Abstract
A mechanism with more generalized coordinates than the number of actuators is said to be an underactuated mechanism. An open kinematic chain with unactuated joints lies in this category. The motion constraints of underactuated multi-link mechanisms are due to their dynamics and do not usually have even the first integral. Such nonholonomic systems are characterized by a nonlinear affine state equation with a drift term. In this paper, we discuss asymptotical stabilization and positioning control of a nonholonomic mechanism with drift.
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