Nonlinear Control System Design of an Underactuated Robot Based on Operator Theory and Isomorphism Scheme
The number of actuators of an underactuated robot is less than its degree of freedom. In other words, underactuated robots can be designed with fewer actuators than fully actuated ones. Although an underactuated robot is more complex than a fully actuated robot, it has many advantages, such as energ...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-04-01
|
| Series: | Axioms |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1680/10/2/62 |