DocumentCode
2406661
Title
Differentially flat design of a closed-chain planar under-actuated 2 DOF system
Author
Zhang, Chengkun ; Franch, Jaume ; Agrawal, Sunil K.
Author_Institution
Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA
fYear
2012
fDate
14-18 May 2012
Firstpage
142
Lastpage
147
Abstract
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.
Keywords
actuators; design engineering; linearisation techniques; manipulator kinematics; mobile robots; springs (mechanical); state feedback; 2DOF PRRRP closed-chain system; closed-chain planar under-actuated 2 DOF system; differential flat design; mass distribution; mobile manipulators; single actuator; spring addition; static feedback linearizability; Equations; Joints; Mathematical model; Planning; Springs; Torque; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location
Saint Paul, MN
ISSN
1050-4729
Print_ISBN
978-1-4673-1403-9
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ICRA.2012.6224635
Filename
6224635
Link To Document