Periodic motion planning and control for double rotary pendulum via virtual holonomic constraints.
Zeguo WangLeonid B. FreidovichHonghua ZhangPublished in: IEEE CAA J. Autom. Sinica (2019)
Keyphrases
- motion planning
- inverted pendulum
- robotic arm
- mobile robot
- mechanical systems
- degrees of freedom
- path planning
- robot arm
- trajectory planning
- humanoid robot
- feedback control
- control law
- nonlinear systems
- multi robot
- kinematic model
- initial conditions
- inverse kinematics
- robotic tasks
- manipulation tasks
- autonomous mobile robot
- fuzzy controller
- intelligent control
- control system
- obstacle avoidance
- simulation study
- adaptive control
- computer vision
- dynamic environments
- end effector
- physical constraints
- control strategy
- potential field
- optimal control
- control method
- formation control
- control algorithm
- visual servoing
- collision free
- autonomous robots
- robot control