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
- English
- Article Type
- Article
- Citation
ELECTRONICS LETTERS, v.34, no.18, pp.1796 - 1797
- ISSN
- 0013-5194
- Appears in Collection
- EE-Journal Papers(저널논문)
- Files in This Item
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