Controllability of under-actuated planar manipulators with one unactuated joint

International Journal of Robotics Research

Volumn 21, Issue 5-6, 2002, Pages 555-561

  Kobayashi, Keigo ^a   Yoshikawa, Tsuneo ^b  

^a OSAKA UNIVERSITY   (Japan)

^b KYOTO UNIVERSITY   (Japan)

Author keywords

Controllability; Nonholonomic systems; Planar manipulator; Unactuated joint; Underactuated manipulator

Indexed keywords

ACTUATORS; FEEDBACK CONTROL; MANIPULATORS; MOTION PLANNING;

UNACTUATED JOINTS;

MOBILE ROBOTS;

EID: 0036589603     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836402321261913     Document Type: Article

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