Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators

DOI10.1080/00207170412331317422zbMath1076.93032OpenAlexW2019757530MaRDI QIDQ4652120

Mahmut Rayhanoglu, Arun D. Mahindrakar, Ravi N. Banavar

Publication date: 24 February 2005

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170412331317422

zbMATH Keywords

controllabilityautomated systemsplanar manipulatorrobotsthree revolute joints

Mathematics Subject Classification ID

Controllability (93B05) Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

Related Items (10)

A simple and quick control strategy for a class of first-order nonholonomic manipulator ⋮ Controllability and accessibility results for \(N\)-link horizontal planar manipulators with one unactuated joint ⋮ PSO-based nonlinear model predictive planning and discrete-time sliding tracking control for uncertain planar underactuated manipulators ⋮ A quick position control strategy based on optimization algorithm for a class of first-order nonholonomic system ⋮ Thrust vector control of an upper-stage rocket with multiple propellant slosh modes ⋮ A general control strategy for planar 3-DoF underactuated manipulators with one passive joint ⋮ Universal Practical Tracking Control of a Planar Underactuated Vehicle ⋮ A stable control for second-order nonholonomic planar underactuated mechanical system: energy attenuation approach ⋮ Nonlinear Control of a Robot Manipulator with a Nonholonomic Jerk Constraint ⋮ Stable control strategy for a second-order nonholonomic planar underactuated mechanical system

Cites Work

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• Nonholonomic motion planning: steering using sinusoids
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• Finite Time Controllers
• Configuration Controllability of Simple Mechanical Control Systems
• Dynamics and control of a class of underactuated mechanical systems
• Discontinuous feedback control of a special class of underactuated mechanical systems
• Controllability of nonlinear systems

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