A stable robust adaptive control method using the brakes equipped at passive joints is proposed for underactuated manipulators in joint space. It is considered that the passive joints have brakes instead of actuators.


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    Title :

    Dynamics and robust control of underactuated manipulators using brakes at passive joints


    Contributors:
    Shin (author) / Lee (author)

    Publication date :

    1998-09-03


    Size :

    2 pages



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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