TY - GEN
T1 - Controllability and observability of an n-link planar robot with multiple actuators
AU - Hao, Yuqing
AU - Duan, Zhisheng
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/7/7
Y1 - 2016/7/7
N2 - This paper considers the linear controllability and observability of an n-link planar robot with multiple actuators. The controllability and observability around the upright equilibrium point (UEP) are investigated. Specific properties of the mechanical parameters are extracted to demonstrate that when there are two adjacent active links, the robot is linearly controllable and observable at the UEP, regardless of its mechanical parameters. When there are no active links adjacent to each other, a sufficient and necessary condition is established to ensure the controllability and observability at the UEP. This paper provides insights into the linear controllability and observability of an n-link planar robot for different actuator-sensor configurations.
AB - This paper considers the linear controllability and observability of an n-link planar robot with multiple actuators. The controllability and observability around the upright equilibrium point (UEP) are investigated. Specific properties of the mechanical parameters are extracted to demonstrate that when there are two adjacent active links, the robot is linearly controllable and observable at the UEP, regardless of its mechanical parameters. When there are no active links adjacent to each other, a sufficient and necessary condition is established to ensure the controllability and observability at the UEP. This paper provides insights into the linear controllability and observability of an n-link planar robot for different actuator-sensor configurations.
UR - https://www.scopus.com/pages/publications/84979763276
U2 - 10.1109/ICCA.2016.7505276
DO - 10.1109/ICCA.2016.7505276
M3 - 会议稿件
AN - SCOPUS:84979763276
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 204
EP - 208
BT - 12th IEEE International Conference on Control and Automation, ICCA 2016
PB - IEEE Computer Society
T2 - 12th IEEE International Conference on Control and Automation, ICCA 2016
Y2 - 1 June 2016 through 3 June 2016
ER -