English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

This paper is concerned with point to point control of a 3 link planar manipulator where the first two joints are actuated and the third revoluted joint is unactuated. This system is a special case of under-actuated manipulators that have acceleration nonholonomic constraints. First, we show that this system is converted to seconed order chained form by coordinates and feedback transformation. Next we propose a control law that stabilizes this chained system with exponential convergence from any initial point to any desired point.

Nonholonomic Contorol of 3-D.O.F. Manipulator with a Free Joint