Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators
Motion planning and control synthesis are challenging problems for underactuated mechanical systems due to the presence of passive (non-actuated) degrees of freedom. For those systems that are additionally not feedback linearizable and with unstable internal dynamics there are no generic methods for...
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| Format: | Doctoral Thesis |
| Language: | English |
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Umeå universitet, Institutionen för tillämpad fysik och elektronik
2009
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| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-30024 http://nbn-resolving.de/urn:isbn:978-91-7264-914-9 |