Browsing NTNU Open by Author "Lillehammer, Brede Løvik"
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Optimal Throwing Motion of Three-Link Underactuated Robot: A Study of Virtual Holonomic Constraints
Lillehammer, Brede Løvik (Master thesis, 2014)Control design for weakly or underactuated systems, i.e. more degrees of freedom than number of control inputs available, has proven to be much more complex than fully actuated due to the new constraints it impose. This ...