DocumentCode
1740118
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
Volume
1
fYear
2000
fDate
2000
Firstpage
133
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2000.894594
Filename
894594
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