Stabilization of a class of underactuated parallel robots via energy shaping: Application to cable driven manipulators
M. Reza J. Harandi, Hamid D. Taghirad
Topics & Concepts
UnderactuationInterconnectionControl theory (sociology)PassivityActuatorRobotHamiltonian systemHamiltonian (control theory)Degrees of freedom (physics and chemistry)Damping matrixComputer scienceControl engineeringMathematicsEngineeringMathematical optimizationControl (management)PhysicsArtificial intelligenceStiffness matrixMathematical analysisStructural engineeringElectrical engineeringQuantum mechanicsComputer networkFinite element methodControl and Stability of Dynamical SystemsATP Synthase and ATPases ResearchDynamics and Control of Mechanical Systems