@inproceedings{7a3cbac74ab94f578d9628e93b7dc723,
title = "Controllability and observability of an n-link planar robot with active joints",
abstract = "This paper considers the linear controllability and observability of an n-link planar robot with active joints. The controllability and observability around the upright equilibrium point (UEP) are investigated. Specific properties of the mechanical parameters are used to derive a necessary and sufficient condition for the linear controllability and observability of the robot when any of the n - 2 joints other than the first or last is active. For the case that there are two active joints adjacent to each other, a necessary and sufficient condition is also established to ensure the controllability and observability at the UEP.",
keywords = "active joints, linearly controllable, linearly observable, multilink planar robot",
author = "Yuqing Hao and Zhisheng Duan and Wei Ren",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7553188",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "831--836",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "美国",
}