Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 46

Chapter 13 treats the control problem for underactuated robots, which have fewer actuators than degrees of freedom. Unlike the control of fully-actuated manipulators considered in Chapters 8–11, underactuated robots cannot track arbitrary trajectories and, consequently, the control problems are more challenging for this class of robots than for fully-actuated robots. We discuss the method of partial feedback linearization and introduce the notion of zero dynamics, which plays an important role in understanding how to control underactuated robots.