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Nonholonomic Contorol of 3-D.O.F. Manipulator with a Free Joint
| Content Provider | Semantic Scholar |
|---|---|
| Author | Kobayashi, Keigo Imura, Jun-Ichi Yoshikawa, Tsuneo |
| Copyright Year | 1997 |
| Abstract | This paper is concerned with point to point control of a 3 link planar manipulator where the first two joints are actuated and the third revoluted joint is unactuated. This system is a special case of under-actuated manipulators that have acceleration nonholonomic constraints. First, we show that this system is converted to seconed order chained form by coordinates and feedback transformation. Next we propose a control law that stabilizes this chained system with exponential convergence from any initial point to any desired point. |
| Starting Page | 799 |
| Ending Page | 804 |
| Page Count | 6 |
| File Format | PDF HTM / HTML |
| DOI | 10.9746/sicetr1965.33.799 |
| Volume Number | 33 |
| Alternate Webpage(s) | https://www.jstage.jst.go.jp/article/sicetr1965/33/8/33_8_799/_pdf |
| Alternate Webpage(s) | https://doi.org/10.9746/sicetr1965.33.799 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |