Title :
Controllability of under-actuated planar manipulators with one unactuated joint
Author :
Kobayashi, Keigo ; Yoshikawa, Tsuneo
Author_Institution :
Dept. of Syst., & Human Sci., Osaka Univ., Japan
Abstract :
This paper is concerned with the analysis of controllability for a class of nonholonomic systems. We discuss the controllability of under-actuated planar manipulators with one unactuated joint. We show that these systems are completely controllable if the first joint (in the base side) is actuated. In order to prove this, we use a kind of bi-directional approach
Keywords :
actuators; controllability; manipulators; base-side joint actuation; bi-directional approach; controllability; nonholonomic systems; unactuated joint; under-actuated planar manipulators; Acceleration; Bidirectional control; Control systems; Controllability; Equations; Humans; Manipulators; Mobile robots; Robot kinematics; Sufficient conditions;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894594
