Position control of an underactuated manipulator using joint friction

DOI10.1016/S0020-7462(97)00035-8MaRDI QIDQ1390106zbMATH OpenOpenAlexFDO

Authors Kee-Ho Yu, Yoshinobu Shito, Hikaru Inooka

Publication date 9 March 1999

Published in International Journal of Non-Linear Mechanics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0020-7462(97)00035-8

zbMATH Keywords

simultaneous controlsequential controlfree joint

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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(7)

• Reachable area of an underactuated space manipulator subjected to simple spinning. Application of bifurcation control under high-frequency excitation.
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• Combined effects of sampling and dry friction on position control
• A controller for 2-DOF underactuated mechanical systems with discontinuous friction
• Control of a three-link robot moving on the plane with friction
• Advances in Neural Networks – ISNN 2005

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