DocumentCode :
42059
Title :
Differentially Flat Design of a Closed-Chain Planar Underactuated 
-DOF System
Author :
Chengkun Zhang ; Franch, Jaume ; Agrawal, Sunil K.
Author_Institution :
Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA
Volume :
29
Issue :
1
fYear :
2013
fDate :
Feb. 2013
Firstpage :
277
Lastpage :
282
Abstract :
This paper demonstrates that for certain choices of mass distribution and addition of springs, an underactuated two-degree-of-freedom (2-DOF) bm PRRRP system is static feedback linearizable, i.e., differentially flat as well. This paper is original and provides a ground breaking study in underactuated dynamical systems.
Keywords :
chains; feedback; linear systems; motion control; path planning; springs (mechanical); time-varying systems; closed-chain planar underactuated 2-DOF system; mass distribution; springs; static feedback; underactuated dynamical systems; underactuated two-degree-of-freedom PRRRP system; Equations; Joints; Mathematical model; Planning; Springs; Torque; Trajectory; Dynamics; motion control; motion planning;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2012.2215135
Filename :
6301743
Link To Document :
