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Modeling and control of a redundantly actuated variable mass 3RRR planar manipulator controlled by a model-based feedforward and a model-based-proportional-derivative feedforward–feedback controller
Affiliation:1. School of Electrical, Computer, and Telecommunication Engineering, Faculty of Engineering and Information Scinces, University of Wollongong, North Avenue, Wollongong, NSW, Australia;2. School of Medicine, Faculty of Scince, Medicine and Health, University of Wollongong, North Avenue, Wollongong, NSW, Australia;3. Department of Gastroenterology, The Hospital of Wollongong, Wollongong, NSW, Australia;1. Laboratoire de Mécanique, Université de Sousse- Ecole Nationale d''Ingénieurs de Sousse, BP 264 Sousse-Erriadh, LR11ES36, Tunisia;2. Institut PPRIME, UPR 3346, CNRS – Université de Poitiers – ENSMA, Bd Pierre et Marie Curie BP 30179, 86962 Futuroscope Chasseneuil, France;1. Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, United Kingdom;2. IK4 Tekniker, Eibar, Spain
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