Three link serial structure underactuated robot

Luis T. Aguilar, Igor Boiko, Leonid Fridman, Rafael Iriarte

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

Abstract

This chapter is devoted to generate SO with desired amplitude and frequency in a three-underactuated system with two control inputs. Existence of periodic orbit was also verified. The periodic orbit will be generated at the upper position that is where the open-loop equilibrium point is unstable.

Original languageBritish English
Title of host publicationSystems and Control
Subtitle of host publicationFoundations and Applications
Pages99-107
Number of pages9
Edition9783319233024
DOIs
StatePublished - 2015

Publication series

NameSystems and Control: Foundations and Applications
Number9783319233024
ISSN (Print)2324-9749
ISSN (Electronic)2324-9757

Keywords

  • Equilibrium point
  • Joint position
  • Orbital stabilization
  • Periodic motion
  • Periodic orbit

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