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
Trajectory of an under-actuated manipulator is usually generated according to both kinematics and dynamics of the manipulator, different to that of conventional manipulator. For this reason, another important problem in trajectory generation for the real system of an under-actuated manipulator is the realizablity of trajectory. That is, the real trajectory by real system may differ greatly from the trajectory generated from the dynamics model because there always exist errors in dynamic modeldoi:10.1109/robot.2001.933128 dblp:conf/icra/LuanMK01 fatcat:3p3olg3winexzgs2liwd7ntpk4