Add to ORKG147 p.Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1998.To validate the control algorithms experimentally, a complete controller for swing-up and balancing has been designed and implemented on the Pendubot, a two-link underactuated robot. The parameters of the Pendubot were varied by up to 50% in order to test robustness to parameter errors. The robust control scheme using sliding mode concepts successfully compensated for modeling imprecision and disturbances inherent in the experimental demonstration.U of I OnlyRestricted to the U of I community idenfinitely during batch ingest of legacy ETD
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.Cataloge...
Abstract There has been an increasing interest in the study of underactuated robot-ics toward signif...
In this paper, the model-based robotic control problem with disturbance attenuation (or robotic H<FO...
Underactuated manipulators are robot manipulators composed of both active and passive joints in seri...
This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot....
Underactuated manipulators are robot manipulators composed of both active and passive joints in seri...
This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot....
In this paper, three techniques. for robust control of underactuated robots are experimentally compa...
One of the most active research areas in mechatronic systems is the control of mechanical systems co...
This monograph provides readers with tools for the analysis, and control of systems with fewer contr...
In this paper, the model-based robotic control problem with disturbance attenuation (or robotic H¥ c...
This thesis describes the implementation of a vertical motion and position control scheme for a mech...
Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By co...
There are many, wildly different approaches to robotic control. Underactuated robots are systems for...
This paper describes the analysis, design, and implementation of an under-actuated robot control sys...
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.Cataloge...
Abstract There has been an increasing interest in the study of underactuated robot-ics toward signif...
In this paper, the model-based robotic control problem with disturbance attenuation (or robotic H<FO...
Underactuated manipulators are robot manipulators composed of both active and passive joints in seri...
This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot....
Underactuated manipulators are robot manipulators composed of both active and passive joints in seri...
This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot....
In this paper, three techniques. for robust control of underactuated robots are experimentally compa...
One of the most active research areas in mechatronic systems is the control of mechanical systems co...
This monograph provides readers with tools for the analysis, and control of systems with fewer contr...
In this paper, the model-based robotic control problem with disturbance attenuation (or robotic H¥ c...
This thesis describes the implementation of a vertical motion and position control scheme for a mech...
Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By co...
There are many, wildly different approaches to robotic control. Underactuated robots are systems for...
This paper describes the analysis, design, and implementation of an under-actuated robot control sys...
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.Cataloge...
Abstract There has been an increasing interest in the study of underactuated robot-ics toward signif...
In this paper, the model-based robotic control problem with disturbance attenuation (or robotic H<FO...