Referenced Items are not available for this document.
Underactuated mechanisms provide significant challenges to control engineers. In this paper a nonlinear controller, based on regulation theory is applied to an underactuated system, the so-called Pendubot, consisting in a double pendulum actuated only at the first joint. Simulation and experimental results for tracking a reference signal are presented
Published in:
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
(Volume:4
)
Date of Conference: 20-25 Apr 1997
- Page(s):
- 3288 - 3293 vol.4
- Meeting Date :
- 20 Apr 1997-25 Apr 1997
- Print ISBN:
- 0-7803-3612-7
- INSPEC Accession Number:
- 5685159
- Conference Location :
- Albuquerque, NM
- Digital Object Identifier :
- 10.1109/ROBOT.1997.606790
- Product Type:
- Conference Publications
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