Title :
Dynamics and robust control of underactuated manipulators using brakes at passive joints
Author :
Shin, Jin-Ho ; Lee, Ju-Jang
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
fDate :
9/3/1998 12:00:00 AM
Abstract :
A stable robust adaptive control method using the brakes equipped at passive joints is proposed for underactuated manipulators in joint space. It is considered that the passive joints have brakes instead of actuators
Keywords :
adaptive control; brakes; manipulators; robot dynamics; robust control; brakes; dynamics; joint space; passive joints; stable robust adaptive control method; underactuated manipulators;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:19981216
