Swing-up and Stabilization of Flexible Underactuated Manipulator without Feedback
نویسنده
چکیده
A control method without state feedback of the free link is proposed for swing-up and stabilization at the upright position of a flexible free link in a twolink underactuated flexible manipulator (the active first and free second links are rigid and flexible, respectively). The proposed method is based on the actuation of bifurcations produced in the second link under high-frequency excitation of the first link. Experimental results show the validity of the proposed method of control for the flexible underactuated manipulator.Copyright c ©2005 IFAC.
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