Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control

DOI10.1007/s11044-014-9432-9zbMath1335.70029OpenAlexW2023478774MaRDI QIDQ498166

Yannian Liu, Xin Xin

Publication date: 25 September 2015

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-014-9432-9

zbMATH Keywords

Lyapunov stability theory3-link gymnastic robotfolded configurationglobal motion analysisset-point controlunderactuated multibody systems

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

Single controller design based on integrated trajectory for three-link vertical underactuated manipulators with first active joint ⋮ Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint

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