Reachable and stabilizable area of an underactuated manipulator without state feedback control

• Published in: The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04 pp. 369 - 374
• Main Authors: Matsuda, T., Yabuno, H., Aoshima, N.
• Format: Conference Proceeding
• Language: English
• Published: Piscataway NJ IEEE 2004
• Subjects: Actuators; Analytical models; Applied sciences; Bifurcation; Computer science; control theory; systems; Control systems; Control theory. Systems; Equations; Exact sciences and technology; Frequency; Gravity; Manipulators; Robotics; State feedback; Systems engineering and theory; Closed feedback; State feedback; Underactuation; Feedback regulation; High frequency; Motion control; Actuator; Open feedback; Manipulator

In this paper, we investigate the reachable and stabilizable area of the tip of an underactuated manipulator (the first joint has an actuator and the second joint has no actuator), which is movable in a vertical plane. In the previous research, we proposed the open-loop control method (which is usin...