• ISSN 0258-2724
  • CN 51-1277/U
  • EI Compendex
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Volume 22 Issue 3
Jun.  2009
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Article Contents
ZHAO Yini, CHENG Hongtai, ZHANG Xiaohua. Energy-Based Dynamical Servo Control for Brachiation of Underactuated 2-Link Robot[J]. Journal of Southwest Jiaotong University, 2009, 22(3): 380-384.
Citation: ZHAO Yini, CHENG Hongtai, ZHANG Xiaohua. Energy-Based Dynamical Servo Control for Brachiation of Underactuated 2-Link Robot[J]. Journal of Southwest Jiaotong University, 2009, 22(3): 380-384.

Energy-Based Dynamical Servo Control for Brachiation of Underactuated 2-Link Robot

  • Received Date: 20 Nov 2008
  • Publish Date: 20 Jun 2009
  • A dynamical servo control strategy was proposed to control the terminal of an underactuated 2-link robot to track a given trajectory or an object during its brachiation. The single pendulum like brachiation of primates was simulated,the control rules for a sliding mode control based on energy and the spatial structure of the 2 links were designed using the Lyapunov stability theory,and the dynamic position control of the terminals of the system was achieved. Simulation results verified the effectiveness of the designed control strategy.

     

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