By Topic

Swing-up and stabilization of an underactuated manipulator without state feedback of free joint

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Yabuno, H. ; Inst. of Eng. Mech. & Syst., Univ. of Tsukuba, Japan ; Goto, K. ; Aoshima, N.

A technique without state feedback of the free link is theoretically and experimentally proposed for the swing-up and the stabilization at the upright position of the free link in a two-link underactuated manipulator. An appropriate actuation of the bifurcations produced in the free link realizes the control objectives.

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:20 ,  Issue: 2 )