scientific article; zbMATH DE number 1187495

MaRDI QIDQ3840673zbMATH OpenFDO

Authors Alessandro De Luca, Raffaella Mattone, G. Oriolo

Publication date 25 October 1998

zbMATH Keywords

controllabilitynormal formfeedback linearizationrobotic manipulatorstriangular formunderactuated systemCaplygin form

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Controllability (93B05) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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(3)

• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
• Controllability and accessibility results for \(N\)-link horizontal planar manipulators with one unactuated joint
• Design of Feed-Forward Control for Underactuated Multibody Systems with Kinematic Redundancy

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