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Controllability of a 4-D.O.F. Planar Manipulator with Two Unactuated Joints
二つの非駆動関節を持つ平面4自由度マニピュレータの可制御性
1999
Journal of the Robotics Society of Japan
二つの非駆動関節を持つ平面4自由度マニピュレータの可制御性
Preserved Fulltext
In this paper, we prove that a 4-D.O.F planar manipulator which consists of two actuated joints and two unactuated joints is completely controllable, namely, there exists an input to drive the system from any given initial state to any state in finite time. The proof exploits the mechanical properties of the planar systems.
doi:10.7210/jrsj.17.811
fatcat:patg5phfcfarjdbazofexu5q6m