Title :
On the nonminimum-phase characteristics of two-link underactuated mechanical systems
Author :
Mullhaupt, Ph ; Srinivasan, B. ; Bonvin, D.
Author_Institution :
Inst. d´´Autom., Ecole Polytech. Federale de Lausanne, Switzerland
Abstract :
Underactuated mechanical systems are those which possess fewer actuators than the number of degrees of freedom. It is shown that, except for some pathological cases, exclusively kinetic, two-link underactuated mechanisms are of nonminimum phase when the natural outputs are considered
Keywords :
dynamics; manipulators; stability; natural outputs; nonminimum-phase characteristics; two-link underactuated mechanical systems; Actuators; Control systems; Filtering theory; Gravity; Kinetic theory; Linear feedback control systems; Manipulator dynamics; Mechanical systems; Robot kinematics; Stability;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.762049
