Titlebook: Control Design and Analysis for Underactuated Robotic Systems; Xin Xin,Yannian Liu Book 2014 Springer-Verlag London 2014 Energy- and Passi

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978-1-4471-7059-4Springer-Verlag London 2014

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Isaac B. Bersuker,Victor Z. Polinger actuator to drive directly the relative angle of two links. Using the energy-based control approach, this chapter presents a necessary and sufficient condition for nonexistence of any singular point in the derived swing-up control law, and provides a global analysis of the convergence of the energy

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Isaac B. Bersuker,Victor Z. Polingeranar robot with the first link being underactuated and the second link being remotely driven by an actuator mounted at a fixed base through a belt. An energy-based swing-up controller is designed. A global motion analysis of the RDA under the designed controller is provided focusing on the behavior

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