Title :
Differentially flat design of a closed-chain planar under-actuated 2 DOF system
Author :
Zhang, Chengkun ; Franch, Jaume ; Agrawal, Sunil K.
Author_Institution :
Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA
Abstract :
This paper investigates when a 2 degree-of-freedom PRRRP closed-chain system with a single actuator is both strongly accessible and feedback linearizable. It is demonstrated that for certain choices of mass distribution and addition of springs, an under-actuated 2 DOF PRRRP system is static feedback linearizable, i.e., also differentially flat.
Keywords :
actuators; design engineering; linearisation techniques; manipulator kinematics; mobile robots; springs (mechanical); state feedback; 2DOF PRRRP closed-chain system; closed-chain planar under-actuated 2 DOF system; differential flat design; mass distribution; mobile manipulators; single actuator; spring addition; static feedback linearizability; Equations; Joints; Mathematical model; Planning; Springs; Torque; Trajectory;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224635
