Motion Control of an Underactuated Manipulator by Using High-Frequency Excitation
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A technique without state feedback is proposed for swing-up and stabilization at the upright position of the free link in a two-link underactuated manipulator (the first and second links are active and passive, respectively). The objectives are accomplished by actuating the perturbation of bifurcations produced in the second link under high-frequency excitation for the first link. Experimental results confirm the validity of the proposed method for the underactuated manipulator.
Key wordsUnderactuated manipulator high-frequency excitation pitchfork bifurcation perturbation of bifurcation bifurcation control
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