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Differentially Flat Design of a Closed-Chain Planar Underactuated \hbox {2} -DOF System

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3 Author(s)
Chengkun Zhang ; Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA ; Franch, J. ; Agrawal, S.K.

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.

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Robotics, IEEE Transactions on  (Volume:29 ,  Issue: 1 )