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Author Mullhaupt, P. ♦ Srinivasan, B. ♦ Bonvin, D.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1998
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Mechanical systems ♦ Stability ♦ Kinetic theory ♦ Control systems ♦ Manipulator dynamics ♦ Actuators ♦ Linear feedback control systems ♦ Filtering theory ♦ Robot kinematics ♦ Gravity
Abstract Underactuated mechanical systems are those which possess fewer actuators than the number of degrees of freedom. It is shown that, except for some pathological cases, exclusively kinetic, two-link underactuated mechanisms are of nonminimum phase when the natural outputs are considered.
Description Author affiliation: Inst. d'Autom., Ecole Polytech. Federale de Lausanne, Switzerland (Mullhaupt, P.)
ISBN 0780343948
ISSN 01912216
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1998-12-18
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 389.96 kB
Page Count 5
Starting Page 4579
Ending Page 4583


Source: IEEE Xplore Digital Library