A general control strategy for planar 3-DoF underactuated manipulators with one passive joint

DOI10.1016/j.ins.2020.05.002zbMath1461.93068OpenAlexW3023777874MaRDI QIDQ2023200

Qingxin Meng, Pan Zhang, Min Wu, Zixin Huang, Xu-Zhi Lai

Publication date: 3 May 2021

Published in: Information Sciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.ins.2020.05.002

zbMATH Keywords

trajectory planningtracking controldifferential evolution algorithmplanar 3-DoF underactuated manipulator

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Variable structure systems (93B12)

Related Items (1)

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

Cites Work

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• Position and posture control for a class of second-order nonholonomic underactuated mechanical system
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• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
• A stable control for second-order nonholonomic planar underactuated mechanical system: energy attenuation approach
• Effective position–posture control strategy based on switching control for planar three-link underactuated mechanical system

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