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Dynamics and robust control of underactuated manipulators using brakes at passive joints

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2 Author(s)
Jin-Ho Shin ; Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea ; Ju-Jang Lee

A stable robust adaptive control method using the brakes equipped at passive joints is proposed for underactuated manipulators in joint space. It is considered that the passive joints have brakes instead of actuators

Published in:

Electronics Letters  (Volume:34 ,  Issue: 18 )