Energy-Optimal Trajectory Planning for Planar Underactuated RR Robot Manipulators in the Absence of Gravity
نویسندگان
چکیده
and Applied Analysis 3
منابع مشابه
Underactuated Manipulators: Control Properties and Techniques
We consider planning and control problems for underactuated manipulators, a special instance of mechanical systems having fewer input commands than degrees of freedom. This class includes robots with passive joints, elastic joints, or flexible links. Structural control properties are investigated, showing that manipulators with passive joints in the absence of gravity are the most difficult to ...
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تاریخ انتشار 2014