Dynamics and robust control of underactuated manipulators using brakes at passive joints

A stable robust adaptive control method using the brakes equipped at passive joints is proposed for underactuated manipulators in joint space. It is considered that the passive joints have brakes instead of actuators.
Publisher
IEE-INST ELEC ENG
Issue Date
1998-09
Language
ENG
Citation

ELECTRONICS LETTERS, v.34, no.18, pp.1796 - 1797

ISSN
0013-5194
URI
http://hdl.handle.net/10203/8199
Appears in Collection
EE-Journal Papers(저널논문)
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