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Variable structure control applied to underactuated robots

Published online by Cambridge University Press:  01 May 1997

Kangsik Lee ,
Sheri Coates  and
Victoria Coverstone-Carroll
Kangsik Lee
Affiliation:
Department of Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign, 305A Talbot Laboratory, Urbana IL 61801, USA. E-mail: vcc@uiuc.edu
Sheri Coates
Affiliation:
Department of Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign, 305A Talbot Laboratory, Urbana IL 61801, USA. E-mail: vcc@uiuc.edu
Victoria Coverstone-Carroll
Affiliation:
Department of Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign, 305A Talbot Laboratory, Urbana IL 61801, USA. E-mail: vcc@uiuc.edu
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Abstract

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Variable structure control is applied to an underactuated two andthree-link robot. Control laws are developed to invert the robot from itsstable, downward equilibrium position to an inverted position. This maneuver isaccomplished by pumping energy into the system with the variable structurecontroller. A linear balancing controller is activated once the robot nears theinverted position. Numerical simulations are presented for both the two andthree-link robot.

Keywords

Underactuated robotsVariablestructure controlRobots

Information

Type
Research Article
Information
Robotica , Volume 15 , Issue 3 , May 1997 , pp. 313 - 318
Copyright
© 1997 Cambridge University Press