Case studies for computed torque control of constrained underactuated systems
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چکیده
منابع مشابه
Torque control of underactuated tendon-driven fingers
Given an underactuated tendon-driven finger, the finger posture is underdetermined and can move freely (“flop”) in a region of slack tendons. This work shows that such an underactuated finger can be operated in tendon force control (rather than position control) with effective performance. The force control eliminates the indeterminate slack while commanding a parameterized space of desired tor...
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In this report, different control techniques for underactuated systems are considered. Underactuated systems are systems that have more degrees of freedom to be controlled than independent control inputs. Several control-techniques are considered for the point-to-point control of underactuated mechanical systems. After that, a control technique is considered for tracking control of underactuate...
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ژورنال
عنوان ژورنال: Periodica Polytechnica Mechanical Engineering
سال: 2012
ISSN: 0324-6051,1587-379X
DOI: 10.3311/pp.me.2012-1.11