Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: Control of redundant robots under end-effector commands: A case study in underactuated systems
Contributor:
Subtitle:
Recent Developments in Robotics
Group publication title:
Abstract:
We analyze the control problem for a kinematically redundant robot driven by forces/torques imposed on the end-effector, an interesting example of underactuated system. A convenient format for the dynamic equations of this mechanism can be obtained via partial feedback linearization. In particular, we point out the existence of two special forms in which the system can be put under suitable assumptions, namely the second-order triangular and Caplygin forms. ; Nonlinear controllability tools are utilized to derive conditions under which it is possible to steer the robot between two given configurations using end-effector commands. With a PPR robot as a case study, a steering algorithm is proposed that achieves reconfiguration in finite time. Simulation results and a discussion on possible generalizations are presented.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 7, number 2 (1997) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1997)
Last modified:
Jul 14, 2025
In our library since:
Nov 18, 2020
Number of object content hits:
160
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64493
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| Edition name | Date |
|---|---|
| Control of redundant robots under end-effector commands: A case study in underactuated systems | Jul 14, 2025 |
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