Point-to-point control of a 2R planar horizontal underactuated manipulator

DOI10.1016/J.MECHMACHTHEORY.2005.10.013MaRDI QIDQ2495869zbMATH OpenOpenAlexFDO

Authors Arun D. Mahindrakar, Shodhan Rao, Ravi N. Banavar

Publication date 30 June 2006

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://eprints.soton.ac.uk/264592/1/Robot.pdf

zbMATH Keywords

cross-coupling torquefinite-time controllerfriction

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05)

Recommendations

• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
• Synthesis of control of a manipulator with two links
• Position and posture control for a class of second-order nonholonomic underactuated mechanical system
• Position control of an underactuated manipulator using joint friction
• Stable control strategy for a second-order nonholonomic planar underactuated mechanical system

Cited in

(11)

• Position control of an underactuated manipulator using joint friction
• A quick position control strategy based on optimization algorithm for a class of first-order nonholonomic system
• Composite control of the \(n\)-link chained mechanical systems
• scientific article; zbMATH DE number 1360076 (Why is no real title available?)
• A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity
• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
• Stable control strategy for a second-order nonholonomic planar underactuated mechanical system
• Underactuated fingers controlled by robust and adaptive trajectory following methods
• Cooperative pointing control of collinear double-integrators without angular velocity
• A new control method for planar four-link underactuated manipulator based on intelligence optimization
• Analysis and design of a compliant variable stroke mechanism

This page was built for publication: Point-to-point control of a 2R planar horizontal underactuated manipulator

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2495869)