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.


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    Title :

    Trajectory planning and robust adaptive control for underactuated manipulators


    Contributors:
    Shin (author) / Lee (author)

    Publication date :

    1998-08-20


    Size :

    2 pages



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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