Nonlinear feedback control of a gravity-assisted underactuated manipulator with application to aircraft assembly

IEEE Transactions on Robotics

Volumn 25, Issue 5, 2009, Pages 1125-1133

  Roy, Binayak ^a   Asada, Harry H ^a  

^a Massachusetts Institute of Technology   (United States)

Author keywords

Gravity assisted; Nonlinear feedback control; Underactuated manipulator

Indexed keywords

AIRCRAFT ASSEMBLIES; AIRCRAFT WING; ANGULAR POSITIONS; ASSEMBLY OPERATIONS; CLOSED-LOOP CONTROL; CONTROL ALGORITHMS; CONTROL GAINS; CONTROL LAWS; CONTROL SCHEMES; GENERAL METHOD; GRAVITATIONAL TORQUE; GRAVITY ASSISTED; LINK SYSTEM; LOCKING MECHANISM; NON HOLONOMIC CONSTRAINT; NONLINEAR FEEDBACK; NONLINEAR FEEDBACK CONTROL; SECOND ORDERS; SNAKE-LIKE ROBOT; UNACTUATED; UNDERACTUATED; UNDERACTUATED MANIPULATOR;

ACTUATORS; AIRCRAFT; ALGORITHMS; CLOSED LOOP CONTROL SYSTEMS; DIFFERENTIAL EQUATIONS; FEEDBACK CONTROL; LYAPUNOV FUNCTIONS; MACHINE DESIGN; MANIPULATORS; WINGS;

FEEDBACK;

EID: 70350231388     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2025067     Document Type: Article

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