Swing-up control for n-link planar robot with single passive joint using the notion of virtual composite links

@article{Xin2008SwingupCF,
  title={Swing-up control for n-link planar robot with single passive joint using the notion of virtual composite links},
  author={Xin Xin and Jin-Hua She and Taiga Yamasaki},
  journal={2008 47th IEEE Conference on Decision and Control},
  year={2008},
  pages={4339-4344}
}
In this paper, we concern a swing-up control problem for an n-link revolute planar robot with any one of the joint being a passive joint. The goal of this study is to design and analyze a swing-up controller that can bring the robot into any arbitrarily small neighborhood of the upright equilibrium point with all links in the upright position. To achieve… CONTINUE READING