Abstract:Robotics is undergoing dynamic progression with the spread of soft robots and compliant mechanisms. The mechanical models describing these systems are underactuated, having more degrees of freedom than inputs. The trajectory tracking control of underactuated systems is not straightforward. The solution of the inverse dynamics is not stable in all cases, as it only considers the actual state of the system. Therefore employing the advances of optimal control theory is a reasonable choice. However, the real-time … Show more
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