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The Transverse Function (TF) approach is applied to the tracking control problem for a nonholonomic three-segments/snake-like wheeled mechanism similar to a planar low-dimensional version of Hirose's Active Cord Mechanism (ACM). Unlike earlier studies devoted to this type of serpentine mechanism and based on the computation and sequential application of a discrete number of open-loop control primitives,...
In the present work, the modeling of a rigid-flexible two link robot via the Euler-Lagrange formalism, is outlined. The flexible-link is considered to be an Euler-Bernoulli beam with a mass attached at its free end simulating a payload. Two control schemes which are known to yield acceptable results for single flexible-link robots are extended and applied to achieve regulation for the joints of the...
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