Description: MODELING AND CONTROL OF UNDERACTUATED REDUNDANT MANIPULATORS
Authors:Ashish Singla, Bhaskar Dasgupta & Ashish Tiwari(Senior Members,IEEE)
Abstract:This paper develops a strategy for modelling and control of underactuated redundant manipulators.First,we formulate a dynamic model for a general underactuated manipulators equipped with strings and dampers at all the joints for making it a fault-tolerent design.We then investigate point to point robot manupulation.
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