Controllability and accessibility results for N-link horizontal planar manipulators with one unactuated joint
نویسندگان
چکیده
Previous work on controllability of underactuated serial horizontal planar manipulators mostly focused only a specific number links, whereas this paper considers general N-link case. The main contribution is accessibility and small-time local (STLC) results for serial, horizontal, with one unactuated joint. An (N≥3) manipulator the first joint actuated STLC subset equilibrium points based Sussmann’s theorem STLC. In contrast, if not actuated, it accessible or
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ژورنال
عنوان ژورنال: Automatica
سال: 2021
ISSN: ['1873-2836', '0005-1098']
DOI: https://doi.org/10.1016/j.automatica.2020.109480