On n-link planar revolute robot: Motion equations and new properties

Yannian Liu, Xin Xin, Jinglong Wu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Multilink planar revolute robots or multilink pendulum-type robots are interesting benchmark systems for control and robotics. In this paper, we present an elementary derivation for motion equations of an n-link planar robot with all rotational joints moving in the vertical plane. Moreover, we prove several known properties and present several new properties on the mechanical parameters in the motion equations of the robot. These results are believed to be useful to study the problems of an n-link planar robot with one or more underactuated joints such as the controllability and the swing-up and stabilizing control regarding the changes of the number and location of actuators of the robot.

Original languageEnglish
Title of host publicationProceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3286-3291
Number of pages6
EditionMarch
ISBN (Electronic)9781479958252
DOIs
Publication statusPublished - Mar 2 2015
Event2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, China
Duration: Jun 29 2014Jul 4 2014

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)
NumberMarch
Volume2015-March

Other

Other2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
CountryChina
CityShenyang
Period6/29/147/4/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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  • Cite this

    Liu, Y., Xin, X., & Wu, J. (2015). On n-link planar revolute robot: Motion equations and new properties. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March ed., pp. 3286-3291). [7053259] (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2014.7053259