Underactuated mechanical systems : Contributions to trajectory planning, analysis, and control
Nature and its variety of motion forms have inspired new robot designs with inherentunderactuated dynamics. The fundamental characteristic of these controlled mechanicalsystems, called underactuated, is to have the number of actuators less than the number ofdegrees of freedom. The absence of full ac...
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| Format: | Doctoral Thesis |
| Language: | English |
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Umeå universitet, Institutionen för tillämpad fysik och elektronik
2011
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| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-39719 http://nbn-resolving.de/urn:isbn:978-91-7459-149-1 |