Point-to-point control of a 2R planar horizontal underactuated manipulator
This paper presents a control strategy for a two-link manipulator with revolute joints (2R) with an unactuated second joint, wherein the motion of the system is confined to a horizontal plane. The model takes into account the frictional forces present in the system. The control objective is to move...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
2006-07.
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| Subjects: | |
| Online Access: | Get fulltext |