DocumentCode
1428146
Title
Dynamics and robust control of underactuated manipulators using brakes at passive joints
Author
Shin, Jin-Ho ; Lee, Ju-Jang
Author_Institution
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Volume
34
Issue
18
fYear
1998
fDate
9/3/1998 12:00:00 AM
Firstpage
1796
Lastpage
1797
Abstract
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
Keywords
adaptive control; brakes; manipulators; robot dynamics; robust control; brakes; dynamics; joint space; passive joints; stable robust adaptive control method; underactuated manipulators;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
DOI
10.1049/el:19981216
Filename
715397
Link To Document