A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf
.
Motion Planning and Trajectory Tracking of Underactuated Three-link Robots
2008
IFAC Proceedings Volumes
A new method for motion planning and trajectory tracking of underactuated three-link planar robots with a passive rotational third joint is proposed. One fundamental feather is to use the switching of partly stable controllers (PACs) in order to fulfill the control objective. The dynamic model of this kind of underactuated robot system is built based on Lagrange method. Different objective functions are given for motion planning and trajectory tracking. The genetic algorithm (GA) is utilized to
doi:10.3182/20080706-5-kr-1001.00378
fatcat:yzn3kyrj4fdtbma4uyjqwq572a