Titlebook: Control Design and Analysis for Underactuated Robotic Systems; Xin Xin,Yannian Liu Book 2014 Springer-Verlag London 2014 Energy- and Passi

probate

四指套

亲密

Chandelier

978-1-4471-7059-4Springer-Verlag London 2014

Exuberance

榨取

水獭

Postulate

Isaac B. Bersuker,Victor Z. Polinger actuator to drive directly the relative angle of two links. Using the energy-based control approach, this chapter presents a necessary and sufficient condition for nonexistence of any singular point in the derived swing-up control law, and provides a global analysis of the convergence of the energy

Interregnum

Isaac B. Bersuker,Victor Z. Polingeranar robot with the first link being underactuated and the second link being remotely driven by an actuator mounted at a fixed base through a belt. An energy-based swing-up controller is designed. A global motion analysis of the RDA under the designed controller is provided focusing on the behavior

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