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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 ; Department of Mechanical Engineering , University of Delaware, Newark, USA ; Jaume Franch ; Sunil K. Agrawal

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 )