Controllability of planar manipulators with one unactuated joint

摘要

In this paper, we prove that the planar manipulator which consists of one actuated joints and one unactuated joints is completely controllable, namely, there exists an admissible path between any given initial state and any state. We also provethe planar manipulators with n actuated joints and one unactuated joints are complete controllable if and only if the first joint is acutated one.The proof exploits the mechanical properties of the planar systems.