Differentially Flat Design of a Closed-Chain Planar Underactuated $\hbox{2}$ -DOF System

Authors :: Chengkun Zhang
Jaume Franch
Sunil K. Agrawal
Source :: IEEE Transactions on Robotics. 29:277-282
Publication Year :: 2013
Publisher :: Institute of Electrical and Electronics Engineers (IEEE), 2013.
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.

Subjects :: Engineering
Dynamical systems theory
Mass distribution
business.industry
Underactuation
Linear system
Motion control
Computer Science Applications
Computer Science::Robotics
Planar
Chain (algebraic topology)
Control and Systems Engineering
Control theory
Motion planning
Electrical and Electronic Engineering
business

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