IEEE - Institute of Electrical and Electronics Engineers, Inc. - Differentially Flat Design of a Closed-Chain Planar Underactuated $\hbox{2}$ -DOF System

Author(s): Chengkun Zhang ; J. Franch ; S. K. Agrawal
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 February 2013
Volume: 29
Page Count: 6
Page(s): 277 - 282
ISSN (Paper): 1552-3098
ISSN (Online): 1941-0468
DOI: 10.1109/TRO.2012.2215135
Regular:

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... View More

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