Model-based trajectory planning and control of underactuated mechanical systems
The problem of trajectory planning and control design for underactuated mechanicalsystems is a nontrivial task due to the presence of passive degrees of freedom in them. Inthis thesis, the virtual holonomic constraint approach is used for the trajectory planningand control design of a typical double...
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| Format: | Others |
| 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-51013 |