Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property
نویسندگان
چکیده
منابع مشابه
Underactuated Mechanical Systems: Contributions to trajectory planning, analysis, and control
Nature and its variety of motion forms have inspired new robot designs with inherent underactuated dynamics. The fundamental characteristic of these controlled mechanical systems, called underactuated, is to have the number of actuators less than the number of degrees of freedom. The absence of full actuation brings challenges to planning feasible trajectories and designing controllers. This is...
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ژورنال
عنوان ژورنال: Transactions of the Institute of Measurement and Control
سال: 2017
ISSN: 0142-3312,1477-0369
DOI: 10.1177/0142331217708833