A stable, robust adaptive control method is proposed for underactuated manipulators in Cartesian space. It is considered that the passive joints have both no actuators and no brakes and thus swing freely.
Trajectory planning and robust adaptive control for underactuated manipulators
20.08.1998
2 pages
Aufsatz (Zeitschrift)
Englisch
Algorithm For Control Of Underactuated Manipulators
NTRS | 1994
|Trajectory Tracking Controller Design for Underactuated AUVs based on Adaptive Robust Control
IEEE | 2024
|Dynamics and robust control of underactuated manipulators using brakes at passive joints
IET Digital Library Archive | 1998
|Dynamic Coupling of Underactuated Manipulators
NTIS | 1994
|