IEEE - Institute of Electrical and Electronics Engineers, Inc. - Controllability and observability of n-link underactuated planar robot with multiple active intermediate links

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Xin Xin
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 6,697 - 6,702
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7799300
Regular:

This paper concerns an n-link underactuated revolute planar robot in a vertical plane with two or more actuators and encoders. The linear controllability and observability of such a robot around... View More

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