DocumentCode
382430
Title
Controllability properties of a planar 3R underactuated manipulator
Author
Mahindrakar, Arun D. ; Banavar, Ravi N.
Author_Institution
Syst. & Control Eng., Indian Inst. of Technol., Mumbai, India
Volume
1
fYear
2002
fDate
2002
Firstpage
489
Abstract
In this paper we present a few controllability properties of a three link planar, horizontal underactuated manipulator with three revolute joints (3R) and two control inputs. The controllability analysis is presented for various actuator configurations. In particular, it is shown that the system is small time locally controllable (STLC) for all except one of the configurations.
Keywords
actuators; controllability; manipulator dynamics; nonlinear control systems; redundant manipulators; actuator configurations; control inputs; controllability properties; dynamic coupling; nonlinear system; planar 3R underactuated manipulator; small time locally controllable system; three link planar horizontal underactuated manipulator; three revolute joints; Actuators; Control engineering; Control systems; Controllability; Manipulators; Mechanical factors; Mechanical systems; Nonlinear control systems; Nonlinear systems; State feedback;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2002. Proceedings of the 2002 International Conference on
Print_ISBN
0-7803-7386-3
Type
conf
DOI
10.1109/CCA.2002.1040234
Filename
1040234
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