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Browse Journals & Magazines > Robotics, IEEE Transactions on ...> Volume:29 Issue:1 Help

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.

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

Date of Publication: Feb. 2013

Page(s):
277 - 282
ISSN :
1552-3098
INSPEC Accession Number:
13270779
Digital Object Identifier :
10.1109/TRO.2012.2215135
Product Type:
Journals & Magazines
Date of Publication :
12 September 2012
Date of Current Version :
01 February 2013
Issue Date :
Feb. 2013
Sponsored by :
IEEE Robotics and Automation Society

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