Feedback Control of a 3-Axis Planar Manipulator with a Passive Joint under 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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The nonlinear motion of underactuated mechanisms has drawn recent interests of researchers. The nonlinearity is often referred to as nonholonomy and related to many both theoretical and practical issues. In this paper, we rst analyze the nonlinear behavior of a two-joint planer manipulator with the second joint free from nonlinear dynamics point of view. We then discuss the simultaneous positio...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1997
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.15.943