Controllability and accessibility results for N-link horizontal planar manipulators with one unactuated joint

DOI10.1016/J.AUTOMATICA.2020.109480MaRDI QIDQ2663985zbMATH OpenOpenAlexFDO

Authors Tan Chen, Bill Goodwine

Publication date 20 April 2021

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1907.13091

zbMATH Keywords

application of nonlinear analysis and designnonlinear controllabilityrobots manipulatorsunderactuated systems

Mathematics Subject Classification ID

Controllability (93B05) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Abstract: This paper presents the accessibility and small-time local controllability (STLC) results for $N$-link horizontal planar manipulators with only one unactuated joint. STLC is important in controls, both for design considerations and because large and swinging maneuvers may be avoided for close reconfiguration if a system is STLC. Despite the fact that controllability of underactuated horizontal planar manipulators has been extensively studied, most work focused only on three-link and global controllability. This paper thus has two contributions: 1) using Lie brackets to study the accessibility and STLC for underactuated two-link manipulators with different actuator configurations, and illustrating the results from a perspective of system dynamics, 2) obtaining the accessibility and STLC results for $N$-link manipulators with one unactuated joint by considering realistic models and different actuator configurations. It is found that an $N$-link ($Ngeq3$) with the first joint actuated is STLC for a subset of equilibrium points based on Sussmann's general theorem for STLC. Moreover, with the dynamics of $N$-link considered in the controllability analysis, it gives relatively simple forms for the nontrivial vector fields, which make it easy to determine at which configurations a model loses full rank condition for accessibility.

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Cited in

(6)

• Analysis of exclusively kinetic two-link underactuated mechanical systems
• A general control strategy for planar 3-DoF underactuated manipulators with one passive joint
• Controllability and observability of an n-link robot with multiple active links
• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
• Distributed end-effector formation control for networked 2-DoF flexible-joint manipulators with partially underactuated agents
• Reachable area of an underactuated space manipulator subjected to simple spinning. Application of bifurcation control under high-frequency excitation.

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