*Underactuated Manipulators*

Operational Space Control for Planar $PA^{N-1}$ Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming

In this paper, we propose an operational space control formulation for a planar N-link underactuated manipulator ($PA^{N-1}$) with a passive first joint subject to actuator constraints (N is greater than 3 or equal to 3), covering both stabilization …

A Novel Strategy for Stabilization Control of a Planar Three-Link Underactuated Manipulator with a Passive First Joint

In this paper, we present a novel control strategy for the stabilization of a planar three-link underactuated manipulator with a passive first joint. Unlike other work relying on the modification of the planar robot characteristics through the …