A technique without state feedback of the free link is theoretically and experimentally proposed for the swing-up and the stabilization at the upright position of the free link in a two-link underactuated manipulator. An appropriate actuation of the bifurcations produced in the free link realizes the control objectives.
['Hiroshi Yabuno', 'Kazukuni Goto', 'Nobuharu Aoshima']
Swing-up and stabilization of an underactuated manipulator without state feedback of free joint