• DocumentCode
    42059
  • Title

    Differentially Flat Design of a Closed-Chain Planar Underactuated \\hbox {2} -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
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=42059