Differential flatness of a class of n—DOF planar manipulators driven by an arbitrary number of 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	Reyes Jimenez, Alejandro
dc.contributor.author	Agrawal, Sunil K.
dc.date	2013
dc.identifier.citation	Franch, J.; Reyes, A.; Agrawal, S.K. Differential flatness of a class of n—DOF planar manipulators driven by an arbitrary number of actuators. A: European Control Conference. "ECC'13- 2013 European Control Conference". Zurich: 2013, p. 161-166.
dc.identifier.citation	978-3-952-41734-8
dc.identifier.uri	http://hdl.handle.net/2117/28316
dc.language.iso	eng
dc.relation	http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6669473
dc.rights	Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Àrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject	Feedback Linearization
dc.subject	Control theory
dc.subject	Geometric methods
dc.subject	Robotics
dc.subject	Classificació INSPEC::Control theory
dc.title	Differential flatness of a class of n—DOF planar manipulators driven by an arbitrary number of actuators
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.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.

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