1. Differential flatness of a class of n—DOF planar manipulators driven by an arbitrary number of actuators
- Author
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Franch Bullich, Jaume|||0000-0002-6257-9113, Reyes Jimenez, Alejandro, Agrawal, Sunil K., Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada IV, and Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
- Subjects
Computer Science::Robotics ,Nonlinear Sciences::Exactly Solvable and Integrable Systems ,Informàtica::Automàtica i control [Àrees temàtiques de la UPC] ,Control theory ,Control theory [Classificació INSPEC] ,TheoryofComputation_LOGICSANDMEANINGSOFPROGRAMS ,Mathematics::Classical Analysis and ODEs ,Geometric methods ,Feedback Linearization ,Robotics ,Software_PROGRAMMINGTECHNIQUES ,Informàtica::Robòtica [Àrees temàtiques de la UPC] ,Computer Science::Distributed, Parallel, and Cluster Computing - Abstract
This paper deals with the problem of feedback linearization, either by dynamic or static feedback, of a planar robot manipulator with n links and m inputs. The robot is pro-vided with a particular inertia distribution in order to reduce nonlinearities, and with n-m springs to keep controllability. Under these design conditions, the paper answers the question of where to place the actuators such that the system is static feedback linearizable. For those systems that there are not static feedback linearizable, the paper shows that are linearizable by prolongations and, therefore, dynamic feedback linearizable.