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• W2119403072 abstract "This paper concerns the design of path following controllers for mechanical systems. Our method is to find a coordinate and feedback transformation that puts the mechanical system in a convenient form for path following control design. In this form, linear and controllable subsystems govern motions toward and along the path. We choose a particular “virtual output” to perform input-output feedback linearization, and characterize when this virtual output can be used. We apply this technique to a planar five-bar linkage robot, and implement it experimentally, highlighting behaviour fundamentally different from standard tracking control. In simulation, we further illustrate our approach on an underactuated five-bar robot with a flexible link." @default.
• W2119403072 created "2016-06-24" @default.
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• W2119403072 date "2011-06-01" @default.
• W2119403072 modified "2023-09-26" @default.
• W2119403072 title "Path following for mechanical systems: Experiments and examples" @default.
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• W2119403072 doi "https://doi.org/10.1109/acc.2011.5991275" @default.
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