TY - GEN
T1 - On n-link planar revolute robot
T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
AU - Liu, Yannian
AU - Xin, Xin
AU - Wu, Jinglong
PY - 2015/3/2
Y1 - 2015/3/2
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84932155788&partnerID=8YFLogxK
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U2 - 10.1109/WCICA.2014.7053259
DO - 10.1109/WCICA.2014.7053259
M3 - Conference contribution
AN - SCOPUS:84932155788
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 3286
EP - 3291
BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 29 June 2014 through 4 July 2014
ER -