Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint

DOI10.1007/s11071-017-3343-2zbMath1380.70022OpenAlexW2581123948MaRDI QIDQ1696781

Yannian Liu, Xin Xin

Publication date: 15 February 2018

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-017-3343-2

zbMATH Keywords

Lyapunov stability theoryunderactuated mechanical systemsenergy-based controlglobal motion analysis3-link planar robottwo passive jointsunderactuation degree two

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

Single controller design based on integrated trajectory for three-link vertical underactuated manipulators with first active joint

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