Title :
On a stabilizable implicit control law for a two degree of freedom manipulator
Abstract :
We propose a simple linear implicit control law for stabilizing the two degree of freedom closed kinematic chain described and shown in Aguilar and Bonilla (1998). It is shown that the closed loop system is asymptotically stable and exponentially stable when the initial conditions are close to the equilibrium point
Keywords :
asymptotic stability; closed loop systems; linear systems; manipulator kinematics; matrix algebra; closed kinematic chain; exponential stability; linear implicit control law; stabilizable implicit control law; two degree of freedom manipulator; Automatic control; Books; Closed loop systems; Kinematics; Kinetic energy; Kinetic theory; Mechanical factors; Polynomials; Potential energy; Vectors;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786488
