Differential Flatness of a Class of n-DOF Planar Manipulators Driven by 1 or 2 Actuators

DOI10.1109/TAC.2009.2037480MaRDI QIDQ4978734zbMATH OpenFDO

Authors Jaume Franch, Vivek Sangwan, Sunil Kumar Agrawal

Publication date 25 August 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/TAC.2009.2037480

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

Cited in

(4)

• Differential-flatness-based finite-time anti-swing control of underactuated crane systems
• A multi-scroll chaotic system for a higher coverage path planning of a mobile robot using flatness controller
• Robust and Nonlinear Control: literature survey (No. 18)
• Necessary and sufficient conditions for linear strong structural controllability and observability of n-link underactuated planar robot with multiple active intermediate links

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