Trajectory planning and robust adaptive control for underactuated manipulators

被引：4
|
作者：
Shin, JH [1 ]
Lee, JJ [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Elect Engn, Taejon 305701, South Korea
来源：
ELECTRONICS LETTERS | 1998年 / 34卷 / 17期
关键词：
D O I：
10.1049/el:19981191
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A stable, robust adaptive control method is proposed for underactuated manipulators in Cartesian space; Tt is considered that the passive joints have both no actuators and no brakes and thus swing freely.
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页码：1705 / 1706
页数：2
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