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

Autor
Zhang, C.; Franch, J.; Agrawal, S.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2013-02
Volum
29
Número
1
Pàgina inicial
277
Pàgina final
282
DOI
https://doi.org/10.1109/TRO.2012.2215135 Obrir en finestra nova
URL
http://www.scopus.com/record/display.url?origin=AuthorProfile&view=basic&eid=2-s2.0-84873404627 Obrir en finestra nova
Resum
This paper demonstrates that for certain choices of mass distribution and addition of springs, an underactuated two-degree-of-freedom (2-DOF) P RRRP 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.
Paraules clau
Dynamics, Motion Control, Motion Planning
Grup de recerca
ACES - Control Avançat de Sistemes d´Energia

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