Two examples, i.e., a fully actuated robotic manipulator and an under-actuated double inverted pendulum, are discussed in the paper to demonstrate the design of controllers for the two different types of systems and to support the efficacy of the proposed approach.
We examine the control problem of curve-tracking for a fully actuated mechanical system.
The proposed design methodology is simulated for the case of a fully actuated autonomous hovercraft.
A more recent and ongoing project is a "fully actuated" ankle brace designed to improve the mobility of individuals suffering from stroke, cerebral palsy, and multiple sclerosis.
Zhang et al. [13] studied the comparison on kinematics and dynamics between the fully actuated 3-RRR mechanism and the redundantly actuated 4-RRR mechanism with joint clearances.
This paper proposes an event-triggered trajectory tracking control approach for fully actuated surface vessels based on guidance-control structure.
It takes into account the dynamics of the system and it can be applied for fully actuated AUVs.
In this paper, we investigate two attitude and translation synchronization problems for multiple fully actuated rigid bodies.
Results obtained from an actual cooperative manipulator, which is able to work as a fully actuated and an underactuated manipulator, are presented.
However, conventional fully actuated snake-like flexible manipulators are difficult to miniaturize and even after miniaturization the payload is very limited.
The active part of the system is a dedicated cell, precisely tooled in a biocompatible and inert material, which is 3 axes fully actuated and computer driven.
