Abstract:
This paper demonstrates that for certain choices of mass distribution and addition of springs, an underactuated two-degree-of-freedom (2-DOF) \bm PRRRP system is static f...Show MoreMetadata
Abstract:
This paper demonstrates that for certain choices of mass distribution and addition of springs, an underactuated two-degree-of-freedom (2-DOF) \bm PRRRP system is static feedback linearizable, i.e., differentially flat as well. This paper is original and provides a ground breaking study in underactuated dynamical systems.
Published in: IEEE Transactions on Robotics ( Volume: 29, Issue: 1, February 2013)
Contents 