ICAR Research Data Repository for Knowledge Management
Controllability properties of a planar 3R underactuated manipulator
DSpace at IIT Bombay
View Archive Info| Field | Value | |
| Title |
Controllability properties of a planar 3R underactuated manipulator
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| Creator |
MAHINDRAKAR, AD
BANAVAR, RN |
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| Subject |
mechanical systems
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| Description |
In this paper we present a few controllability properties of a three link planar, horizontal underactuated manipulator with three revolute joints (3R) and two control inputs. The controllability analysis is presented for various actuator configurations. In particular, it is shown that the system is small time locally controllable (STLC) for all except one of the configurations.
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| Publisher |
IEEE
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| Date |
2011-10-26T21:37:14Z
2011-12-15T09:12:31Z 2011-10-26T21:37:14Z 2011-12-15T09:12:31Z 2002 |
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| Type |
Proceedings Paper
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| Identifier |
PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 & 2,489-494
0-7803-7386-3 http://dspace.library.iitb.ac.in/xmlui/handle/10054/16136 http://hdl.handle.net/100/2716 |
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| Source |
IEEE International Conference on Control Applications,GLASGOW, SCOTLAND,SEP 18-20, 2002
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| Language |
English
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