Accessibility and Controllability of Flexible Robotic Manipulators

  title={Accessibility and Controllability of Flexible Robotic Manipulators},
  author={Sabri Tosunoglu and S C Lin and Delbert Tesar},
  journal={1990 American Control Conference},
Although serial manipulator arms modeled with rigid links show full system controllability in the joint space, this condition does not necessarily hold for flexible robotic systems. In particular, in certain robot configurations, called inaccessible robot positions, one or more of the flexibilities may not be accessed directly by the actuators. This condition deteriorates system performance as reported earlier by the authors (Tosunoglu et al., 1988, 1989). The present study addresses the… CONTINUE READING


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