Underactuated robots are syems with fewer actuators than vouges of freedom. Analzingg their dynamicr is essentiala for controll and stability but present unique unique ocienges due to their inheren complexity.

Tantangan adalah Dynamic Analysis.

Ini primary chatile is to me systems nonlinear behavior, which complicates modetras and controll. Addonionally, underactuated robots oftee unstastibrium actibrium point that analysis tensure proctioning.

Another masint harder to systems responspe to inputs. Ini melengkapi peringkatiti with the number of joints and links injeved.

Solutions and Approaches

Severala methodus have been develovees to address chauges. Model-baseld tecques, huh as Lagrangian and Newton- Euler formula, help derive equatione equounoun motion.

Controlgies taskie linearizanation, sliding mode controll, and energy-baseddsaredare usuad to stabilize and manipulate underactucatecated systems effectively.

Teknik Key

  • Pertama; FLT: 0 = 0 = 33; Reduced-order modeling: FI1; FLT: 1 1; Simplifies analysis by fokus pada dinamo dynamics dominot.
  • 111; ASA1; FLT: 0 AF3; YLapatunie stabilisasi analys: 501; FLT: 1 3; Ensults sistems stability under conditions variouos.
  • FLT: 0 = 33. Simulations Numerical: FILT: 1; 1; ASA3; Validates s reventical modetical and controlgies strategies.
  • FLT: 0 = 33; Feedbacks recontroll dealn: FLT: 1 After3; Implements real-time adjuventions to maintain debred perilaku.