Dynamic Feedback Control of XYn?? Planar Robots with n Rotational Passive Joints

DOI10.1002/ROB.10085MaRDI QIDQ4452418zbMATH OpenOpenAlexWikidataFDO

Authors Stefano Iannitti, Alessandro De Luca

Publication date 12 February 2004

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.10085

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Feedback control (93B52)

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(2)

• A general control strategy for planar 3-DoF underactuated manipulators with one passive joint
• Linear strong structural controllability and observability of an \(n\)-link underactuated revolute planar robot with active intermediate joint or joints

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