Nonholonomic control of a three-DOF planar underactuated manipulator

IEEE Transactions on Robotics and Automation

Volumn 14, Issue 5, 1998, Pages 681-695

  Arai, Hirohiko ^a,c   Tanie, Kazuo ^a,c   Shiroma, Naoji ^b  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b UNIVERSITY OF TSUKUBA   (Japan)

^c IEEE   (Japan)

Author keywords

Controllability; Nonholonomic constraint; Nonlinear feedback control; Passive joint; Underactuated manipulator

Indexed keywords

COMPUTER SIMULATION; CONSTRAINT THEORY; CONTROLLABILITY; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; NONLINEAR CONTROL SYSTEMS; POSITION CONTROL;

NONHOLONOMIC CONTROL;

MANIPULATORS;

EID: 0032186778     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.720345     Document Type: Article

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