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Differentially flat design of a closed-chain planar under-actuated 2 DOF system

Autor
Zhang, C.; Franch, J.; Agrawal, S.
Tipus d'activitat
Article en revista
Revista
IEEE International conference on robotics and automation
Data de publicació
2012
Volum
2012
Pàgina inicial
142
Pàgina final
147
DOI
https://doi.org/10.1109/ICRA.2012.6224635 Obrir en finestra nova
URL
https://ieeexplore.ieee.org/document/6224635/ Obrir en finestra nova
Resum
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.
Paraules clau
Mass distribution, Single actuators, Static feedback
Grup de recerca
ACES - Control Avançat de Sistemes d´Energia

Participants