ICRA 2012 Paper Abstract


Paper TuA04.4

Zhang, Chengkun (University of Delaware), Franch, Jaume (Universitat Politecnica de Catalunya), Agrawal, Sunil (University of Delaware)

Differentially Flat Design of a Closed-Chain Planar Under-Actuated 2 DOF System

Scheduled for presentation during the Regular Session "Underactuated Robots" (TuA04), Tuesday, May 15, 2012, 09:15−09:30, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 14, 2018

Keywords Underactuated Robots, Mechanism Design of Manipulators, Motion Control of Manipulators


This paper investigates when a 2 degree-offreedom PRRRP closed-chain system with a single actuator is both strongly accessible and feedback linearizable. It is demonstrated that for certain choices of mass distribution and addition of springs, an under-actuated 2 DOF PRRRP system is static feedback linearizable, i.e., also differentially flat.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-11-14  08:13:30 PST  Terms of use