Drift Suppression Control Based on Online Intelligent Optimization for Planar Underactuated Manipulator With Passive Middle Joint
We consider the position control problem of the planar 3R manipulator with the middle passive joint, whose dynamic constraint is caused by the second-order non-holonomic characteristic. A drift suppression control method with two stages is proposed for positioning the system. First, we give the dyna...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9371690/ |