IEEE - Institute of Electrical and Electronics Engineers, Inc. - Robust Tracking Control of a Three-DOF Planar Under-actuated Manipulator

2007 IEEE International Conference on Control and Automation, ICCA 2007

Author(s): Licheng Wu ; Shengping Liu ; Zhen Lu
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2007
Conference Location: Guangzhou, China
Conference Date: 30 May 2007
Page(s): 1,009 - 1,013
ISBN (CD): 978-1-4244-0818-4
ISBN (Paper): 978-1-4244-0817-7
DOI: 10.1109/ICCA.2007.4376508
Regular:

A manipulator with free joints is a class of under-actuated mechanisms. Control of such systems is one of major topics in robotics and control engineering. In this paper, we develop a nonlinear... View More

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