The Research on Controllability of Underactuated Robots

Jie Wei

doi:10.4028/www.scientific.net/AMR.1079-1080.1030

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 1079-1080The Research on Controllability of Underactuated...

The Research on Controllability of Underactuated Robots

Abstract:

underactuated robot is a kind of robot that inputs less degrees of freedom system. Due to nonholonomic constraints of nonsystem, integrability and controllability of underactuated robot has become the effective control of primary concern. This paper analyzes the constrained integrability of underactuatedrobot, reviewing the linear controllable of robot systems, it researches progress of the nonlinear controllability and other methods, putting forward the control the direction of further research of underactuated robot.

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Periodical:

Advanced Materials Research (Volumes 1079-1080)

Pages:

1030-1033

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.1079-1080.1030

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Online since:

December 2014

Authors:

Jie Wei*

Keywords:

Controllability, Nonholonomic Constrain, Underactuated Robots

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* - Corresponding Author

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