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PenduBot is a new experiment object in the control theory and a typical representation in the underactuated robot, so it is the research focus of control and robot domain. It is known for its strongly nonlinear and naturally unstable properties. To stabilize the PenduBot and verify the control abilities of the algorithm on strongly nonlinear and naturally unstable properties, the thesis presents the...
In this paper, a region reaching controller with motion constraints is proposed for robot manipulator. In this control concept, the desired objective can be specified as a region instead of a point. In addition, physical constraints can be imposed on the robot motion by defining an additional region for the robot. For example, a region for the boundary of the end effector to avoid singular points...
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