ICRA 2012 Paper Abstract

Close

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 December 13, 2017

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

Abstract

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. © 2002-2017 PaperCept, Inc.
Page generated 2017-12-13  22:10:26 PST  Terms of use