Title :
Trajectory planning and robust adaptive control for underactuated manipulators
Author :
Shin, Jin-Ho ; Lee, Ju-Jang
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
fDate :
8/20/1998 12:00:00 AM
Abstract :
A stable, robust adaptive control method is proposed for underactuated manipulators in Cartesian space. It is considered that the passive joints have both no actuators and no brakes and thus swing freely
Keywords :
manipulators; Cartesian space; passive joints; robust adaptive control; stable control method; trajectory planning; underactuated manipulators;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:19981191
