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This chapter presents an introduction to the dynamics and control of robot manipulators. We derive the equations of motion for a general open-chain manipulator and, using the structure present in the(More)
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  • In this paper we discuss the control of underactuated mechanical systems. Underactuated mechanical systems have fewer control inputs than degrees of freedom and arise in applications, such as space(More)
    We propose a control method for the acrobot where swingup stage is performed by genetic programming (GP) and balancing stage is handled by a linear quadratic regulator (LQR). GP is approach expanding(More)