Title of article
Control of a three-link manipulator driven by three spinning disks
Author/Authors
Yavin، نويسنده , , Y. and Frangos، نويسنده , , C.، نويسنده ,
Issue Information
روزنامه با شماره پیاپی سال 2005
Pages
6
From page
1341
To page
1346
Abstract
This work deals with the modelling and control of a planar three-link manipulator driven by three spinning disks. The motion of the manipulator+disksʹ system is described by six angles. The first three of them describing the motion of the manipulator, and the rest describing the motion of the spinning disks. A torque i is applied on Disk i, i = 1,2,3, respectively. Thus, the system is underactuated.
Keywords
Three-link manipulator , Spinning disks , Underactuated control system
Journal title
Mathematical and Computer Modelling
Serial Year
2005
Journal title
Mathematical and Computer Modelling
Record number
1593764
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