NDLI: On controllability and observability of an n-link planar robot with a single actuator and a single encoder having different configurations

Content Provider	IEEE Xplore Digital Library
Author	Liu, Yannian Xin, Xin
Copyright Year	2015
Description	Author affiliation: Biomedical Engineering Laboratory, Okayama University, 1-1-1 Tsushima-naka, Kita-ku, Okayama-shi, 700-8530, Japan (Liu, Yannian) \|\| Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, 111 Kuboki, Soja, 719-1197, Japan (Xin, Xin)
Abstract	This paper concerns an n-link revolute planar robot with all the links moving in the same vertical plane and having a single actuator. An encoder attached to the actuator measures the joint angle where it is located. The linear controllability and observability of the robot around the upright equilibrium point (UEP), where all the links are in the upright position, are investigated. First, we present a simple test of the linear controllability and observability. Second, along with new properties of the mechanical parameters in the motion equation of the robot, we prove that the robot is linearly controllable and observable at the UEP, when the first or last joint is active (actuated) and the corresponding joint angle is measured, whatever the values of its mechanical parameters. The assumption of each link consisting of a massless rod with a point mass at its end in the previous studies is not needed in this paper. Moreover, the relationship between the controllability and strong structural controllability at the UEP of the robot with the last active joint is clarified.
Starting Page	1477
Ending Page	1482
File Size	193468
Page Count	6
File Format	PDF
e-ISBN	9781479978861
DOI	10.1109/CDC.2015.7402419
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-12-15
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Controllability Actuators Observability Modeling Transmission line matrix methods Robot kinematics
Content Type	Text
Resource Type	Article

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