Unlike a fully-actuated manipulator, the position-posture control of a planar underactuated
manipulator (PUM) is more difficult, but the research on it is significant due to the wide …

The planar three-link passive-active-active (PAA) under-actuated manipulator does not
satisfy the small-time local controllability (STLC), which makes it more difficult to control than …

Underwater vehicle-manipulator (UVM) system becomes popular for various applications
although it has complexity in control and analysis when compared to the vehicle itself. To …

Planar underactuated mechanical systems are unaffected by gravity and therefore widely
used in aerospace robots and underwater vehicles. However, the stable control is quite …

Many different control schemes have been proposed in the technical literature to control the
special class of underactuated systems, the-so-called brachiation robots. However, most of …

摘要针对第一关节为被动的平面三连杆欠驱动机械系统, 提出一种基于模型降阶的位置控制方法
. 首先, 建立平面三连杆欠驱动系统数学模型, 并分析其积分特性; 其次, 将部分可积的三连杆系统 …

The articulated dump truck is a widespread tansport vehicle for narrow rough terrain
environment. To achieve the autonomous driving in the underground tunnel, this ariticle …

Robotic manipulators find their utility in many space applications. However, handling
actuator failure in such systems is a challenging task. The system can also be deliberately …

摘要欠驱动柔性机器人的可控性分析是对其进行有效控制的关键问题. 本文以具有柔性杆的
3DOF 平面欠驱动机器人为例, 分两步分析系统的可控性. 首先, 忽略杆件的弹性变形 …

基于模糊控制理论, 研究水平运动的4 自由度欠驱动机器人位置和姿态控制问题. 平面4
自由度欠驱动机器人是具有冗余度和欠驱动双重特征的复杂二阶非完整系统 …