Large force generation and control method of manipulator exploiting its oscillatory motion using Van Der Pol oscillator

  • Jun KobayashiEmail author
Regular Papers Robotics and Automation


In this study, the effect of exploiting an oscillatory motion of a manipulator on large force generation is demonstrated using simulations. Firstly, a natural frequency approximation method is devised, and a preferable posture of the manipulator is selected based on the approximation. The preferable posture is a posture in which the natural frequency of the manipulator is low. Since, in general, high frequency vibration is considered to be an undesirable phenomenon for mechanical systems, the manipulator should be operated in the preferable posture. Secondly, a method to oscillate the manipulator is proposed, and its performance is investigated using simulations. The method capitalizes on the oscillatory motion of the manipulator for efficient large force generation. Specifically, the method uses Van der Pol (VDP) oscillator to exploit an oscillatory motion of the manipulator. A force reference signal, which is a command to make the manipulator oscillate, is produced by the VDP oscillator. Due to the entrainment property of the VDP oscillator, the force reference signal can synchronize with the motion of the manipulator. The efficient large force generation is attained by the synchronization. Thirdly, a force control system that enables you to obtain the desired amount of force is designed based on the force generation method. By adjusting the natural frequency of the VDP oscillator, the purpose of the force control system is realized. Finally, a theoretical proof of the entrainment property of the VDP oscillator coupled with a linear mechanical system is established with an averaging method, and simulations exemplify the validity of the proof.


Averaging method force control large force generation oscillatory motion synchronization van der pol oscillator 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    E. Papadopoulos and Y. Gonthier, “A framework for large-force task planning of mobile and redundant manipulators,” Journal of Robotic Systems, vol. 16, no. 3, pp. 151–162, 1999.zbMATHCrossRefGoogle Scholar
  2. [2]
    J. Imamura and K. Kosuge, “Handling of an object exceeding load capacity of dual manipulators using virtually unactuated joints,” Proc. of the IEEE International Conference on Robotics & Automation, pp. 989–994, 2002.Google Scholar
  3. [3]
    J. Kobayashi, S. Kishida, and F. Ohkawa, “Analysis of suitable postures for robot manipulator applying force using numerical optimization method,” Proc. of International IEEE Conference Mechatronics & Robotics 2, pp. 277–282, 2004.Google Scholar
  4. [4]
    M. Uemura, K. Kanaoka, and S. Kawamura, “Power assist system for sinusoidal motion by passive element and impedance control,” Proc. of the IEEE International Conference on Robotics and Automation, pp. 3935–3940, 2006.Google Scholar
  5. [5]
    M. Uemura, K. Kanaoka, and S. Kawamura, “Power assist systems based on resonance of passive elements,” Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4316–4321, 2006.Google Scholar
  6. [6]
    H. Asada, “A geometrical representation of manipulator dynamics and its application to arm design,” Journal of Dynamic Systems, Measurement, and Control, vol. 105, pp. 131–135, 1983.zbMATHCrossRefGoogle Scholar
  7. [7]
    D. W. Jordan and P. Smith, Nonlinear Ordinary Differential Equations. An Introduction to Dynamical Systems, 3rd edition, Oxford University Press, 1999.Google Scholar
  8. [8]
    P. Veskos and Y. Demiris, “Development acquisition of entrainment skills in robot swinging using van der Pol oscillators,” Proc. of the EPIROB-2005, pp. 87–93, 2005.Google Scholar
  9. [9]
    L. O. Chua and T. Endo, “Multimode oscillator analysis via integral manifolds, part I: non-resonant case,” International Journal of Circuit Theory and Applications, vol. 16, pp. 25–58, 1988.zbMATHCrossRefMathSciNetGoogle Scholar

Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  1. 1.School of Computer Science and Systems EngineeringKyushu Institute of TechnologyFukuokaJapan

Personalised recommendations