Design of a Desirable Trajectory and Convergent Control for 3-D.O.F Manipulator with a Nonholonomic Constraint.
نویسندگان
چکیده
منابع مشابه
Design of a Desirable Trajectory and Convergent Control for 3-D.O.F. Manipulator with a Nonholonomic Constraint
This paper is concerned with control of a 3 link planar underactuated manipulator that is known as a second order nonholonomic system. Since we have already proposed a control law that ensures convergence of its state to a desirable trajectory and to any desired final point, we propose a method of design of a desirable trajectory that starts from any given initial point, and then passes any giv...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2000
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.18.584