Title :
Controllability properties of a planar 3R underactuated manipulator
Author :
Mahindrakar, Arun D. ; Banavar, Ravi N.
Author_Institution :
Syst. & Control Eng., Indian Inst. of Technol., Mumbai, India
Abstract :
In this paper we present a few controllability properties of a three link planar, horizontal underactuated manipulator with three revolute joints (3R) and two control inputs. The controllability analysis is presented for various actuator configurations. In particular, it is shown that the system is small time locally controllable (STLC) for all except one of the configurations.
Keywords :
actuators; controllability; manipulator dynamics; nonlinear control systems; redundant manipulators; actuator configurations; control inputs; controllability properties; dynamic coupling; nonlinear system; planar 3R underactuated manipulator; small time locally controllable system; three link planar horizontal underactuated manipulator; three revolute joints; Actuators; Control engineering; Control systems; Controllability; Manipulators; Mechanical factors; Mechanical systems; Nonlinear control systems; Nonlinear systems; State feedback;
Conference_Titel :
Control Applications, 2002. Proceedings of the 2002 International Conference on
Print_ISBN :
0-7803-7386-3
DOI :
10.1109/CCA.2002.1040234
