On controllability and observability of an n-link planar robot with a single actuator and a single encoder having different configurations

@article{Liu2015OnCA,
  title={On controllability and observability of an n-link planar robot with a single actuator and a single encoder having different configurations},
  author={Yannian Liu and Xin Xin},
  journal={2015 54th IEEE Conference on Decision and Control (CDC)},
  year={2015},
  pages={1477-1482}
}
This paper concerns an n-link revolute planar robot with all the links moving in the same vertical plane and having a single actuator. An encoder attached to the actuator measures the joint angle where it is located. The linear controllability and observability of the robot around the upright equilibrium point (UEP), where all the links are in the upright position, are investigated. First, we present a simple test of the linear controllability and observability. Second, along with new… CONTINUE READING

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Control Design and Analysis for Underactuated Robotic Systems

  • X. Xin, Y. Liu
  • 2014
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