Differential flatness of a class of n-DOF planar manipulators driven by 1 or 2 actuators

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dc.contributor	Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada IV
dc.contributor	Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
dc.contributor.author	Franch Bullich, Jaume
dc.contributor.author	Agrawal, Sunil K.
dc.contributor.author	Sangwan, Vivek
dc.date	2010-02
dc.identifier.citation	Franch, J.; Agrawal, S.; Sangwan, V. Differential flatness of a class of n-DOF planar manipulators driven by 1 or 2 actuators. "IEEE transactions on automatic control", Febrer 2010, vol. 55, núm. 2, p. 548-554.
dc.identifier.citation	0018-9286
dc.identifier.uri	http://hdl.handle.net/2117/7799
dc.language.iso	eng
dc.relation	http://sauwok.fecyt.es/apps/InboundService.do?product=CCC&action=retrieve&SrcApp=EndNoteWeb&UT=000274383400034&SID=N1h4Chc@aiEcFBmJl@a&SrcAuth=ISIResearchSoft&mode=FullRecord&customersID=ISIResearchSoft&DestFail=http://access.isiproducts.com/custom_images/wok_failed_auth.html
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Manipulators (Mechanism)
dc.subject	Automatic control
dc.subject	Differential flatness Robot design Under-actuated robots
dc.subject	Manipuladors (Mecanismes)
dc.subject	Control automàtic
dc.subject	Classificació INSPEC::Control theory::Control system synthesis
dc.subject	Classificació INSPEC::Automation::Robots::Manipulators
dc.title	Differential flatness of a class of n-DOF planar manipulators driven by 1 or 2 actuators
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/article
dc.description.abstract	A fully actuated system can execute any joint trajectory. However, if a system is under-actuated, not all joint trajectories are attainable. The authors have actively pursued novel designs of under-actuated robotic arms which are both controllable and feedback linearizable. These robots can perform point-to-point motions in the state space, but potentially can be designed to work with fewer actuators, hence with lower cost. With this same spirit, the technical note investigates the property of differential flatness for a class of planar under-actuated open-chain robots having a specific inertia distribution, but driven by only one or two actuators. This technical note addresses the following theoretical question: what placement of one or two actuators will make an n-DOF planar robot differentially flat if it is designed so that its center of mass always lies at joint 2?
dc.description.abstract	Peer Reviewed

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