Iterative Contraction Stability Control Strategy for Planar Prismatic-Rotational Underactuated Robot
An iterative contraction stability control strategy is proposed to solve the end point position control problem of the planar prismatic-rotational (PR) underactuated robot. We establish the dynamic model of the planar PR underactuated robot, and use the algebra method to derive the nilpotent approxi...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10138880/ |