• DocumentCode
    1427591
  • 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
  • Volume
    34
  • Issue
    17
  • fYear
    1998
  • fDate
    8/20/1998 12:00:00 AM
  • Firstpage
    1705
  • Lastpage
    1706
  • 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;
  • fLanguage
    English
  • Journal_Title
    Electronics Letters
  • Publisher
    iet
  • ISSN
    0013-5194
  • Type

    jour

  • DOI
    10.1049/el:19981191
  • Filename
    715308
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1427591