Differentially Flat Design of a Closed-Chain Planar Underactuated \hbox -DOF System

Differentially Flat Design of a Closed-Chain Planar Underactuated \hbox -DOF System

This paper demonstrates that for certain choices of mass distribution and addition of springs, an underactuated two-degree-of-freedom (2-DOF) \bm PRRRP system is static feedback linearizable, i.e., differentially flat as well. This paper is original and provides a ground breaking study in underactua...

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Veröffentlicht in:IEEE transactions on robotics 2013-02, Vol.29 (1), p.277-282
Hauptverfasser: Chengkun Zhang, Franch, J., Agrawal, S. K.
Format: Artikel
Sprache:eng
Schlagworte:
Dynamical systems
Dynamics
Equations
Feedback
Joints
Mathematical model
Mechanics
motion control
motion planning
Planning
Springs
Torque
Trajectory
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Zusammenfassung:This paper demonstrates that for certain choices of mass distribution and addition of springs, an underactuated two-degree-of-freedom (2-DOF) \bm PRRRP system is static feedback linearizable, i.e., differentially flat as well. This paper is original and provides a ground breaking study in underactuated dynamical systems.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2012.2215135