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- W4385144480 abstract "In this brief paper, potential energy shaping of underactuated parallel robots (UPRs) based on the method called interconnection and damping assignment passivity-based control (IDA-PBC) is presented. To this aim, to assign a new Hamiltonian to the closed-loop system, due to fewer actuators than degrees of freedom, a set of partial differential equations (PDEs) related to assigning a desired potential energy should be solved analytically, which are basically the stumbling block of IDA-PBC approach. Although in UPRs, the input mapping matrix is complex and configuration-dependent, a general solution for the potential energy PDE is derived such that it is independent of degrees of underactuation." @default.
- W4385144480 created "2023-07-23" @default.
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- W4385144480 date "2023-10-01" @default.
- W4385144480 modified "2023-10-14" @default.
- W4385144480 title "Stabilization of a class of underactuated parallel robots via energy shaping: Application to cable driven manipulators" @default.
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- W4385144480 doi "https://doi.org/10.1016/j.automatica.2023.111201" @default.
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