@inproceedings{a77ce685536245f49ccc73104b5ca068,
title = "Robust global stabilization of the underactuated 2-DOF manipulator R2D1",
abstract = "In this paper a switching control strategy for robust stabilization of the 2nd-order nonholonomic 2-DOF SCARA robot R2D1 is presented.The first joint is actuated by a direct drive motor, whereas the second joint is equipped with a brake.The unactuated second joint is controlled by non-collocated linearization and a PD-controller.A stability region is derived and robustness is achieved by exploiting the contractive character of the perturbed stability region.The proposed switching control strategy assures global and robust position control of the second joint.Experimental results confirm the efficiency of the proposed approach.",
keywords = "Actuators, Automatic control, Control systems, Manipulators, Orbital robotics, Robots, Robust control, Robust stability, Robustness, Torque",
author = "Jorg Mareczek and Martin Buss and Gunther Schmidt",
note = "Publisher Copyright: {\textcopyright}1998 IEEE.; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",
year = "1998",
doi = "10.1109/ROBOT.1998.680741",
language = "English",
isbn = "078034300X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2640--2645",
booktitle = "Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998",
}