ICAR Research Data Repository for Knowledge Management
DSpace at IIT Bombay
View Archive InfoMetadata
| Field | Value |
| Title | Controllability properties of a planar 3R underactuated manipulator |
| Names |
MAHINDRAKAR, AD
BANAVAR, RN |
| Date Issued | 2002 (iso8601) |
| Abstract | 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. |
| Genre | Proceedings Paper |
| Topic | Mechanical Systems |
| Identifier | PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 & 2,489-494 |