Differentially Flat Design of a Closed-Chain Planar Underactuated <formula formulatype='inline'><tex Notation='TeX'>$hbox{2}$ </tex></formula>-DOF System

Zhang C.; Franch J.; Agrawal S. K.

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Differentially Flat Design of a Closed-Chain Planar Underactuated $hbox{2}$ -DOF System

机译：闭链平面欠驱动的 $ hbox {2} $ -DOF系统的差分平面设计

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This paper demonstrates that for certain choices of mass distribution and addition of springs, an underactuated $hbox{two-}$degree-of-freedom (2-DOF) ${bm PRRRP}$ system is static feedback linearizable, i.e., differentially flat as well. This paper is original and provides a ground breaking study in underactuated dynamical systems.

机译：本文证明，对于某些质量分布选择和附加弹簧，驱动不足的$ hbox {two-} $自由度（2-DOF）$ {bm PRRRP} $系统是静态反馈线性化的，即微分平坦也一样本文是原创文章，为欠驱动动力系统提供了突破性的研究。

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来源
《Robotics, IEEE Transactions on》 |2013年第1期|p.277-282|共6页
作者
Zhang C.; Franch J.; Agrawal S. K.;
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作者单位

Department of Mechanical Engineering , University of Delaware, Newark, USA;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Equations; Joints; Mathematical model; Planning; Springs; Torque; Trajectory; Dynamics; motion control; motion planning;

机译：方程;关节;数学模型;规划;泉;扭矩弹道;动力学;运动控制;运动计划;

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Differentially Flat Design of a Closed-Chain Planar Underactuated $hbox{2}$ -DOF System

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