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首页> 外文期刊>Automatica >Linear strong structural controllability and observability of an n-link underactuated revolute planar robot with active intermediate joint or joints
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Linear strong structural controllability and observability of an n-link underactuated revolute planar robot with active intermediate joint or joints

机译：具有活性中间关节或关节的N-Link欠扰动旋转平面机器人的线性强的结构可控性和可观察性

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For an n-link underactuated revolute planar robot with all the links moving in the same vertical plane, this paper studies the linear strong structural controllability and observability of the robot with only an active intermediate joint or active intermediate joints around the UEP (upright equilibrium point), where all the links are in the upright position. First, when the robot only has an active intermediate joint or active intermediate nonadjacent joints, we show that the robot is linearly strongly structurally uncontrollable and unobservable around the UEP via an illustrative example that there always exists a set of physical parameters that renders the robot linearly uncontrollable and unobservable around the UEP. Second, when the robot only has two active intermediate adjacent joints, without making any assumption on the physical parameters of the robot, we show that the robot is linearly strongly structurally controllable and observable around the UEP. Thus, the robot with its first and last joint being passive is linearly strongly structurally controllable and observable around the UEP if and only if there are at least two active adjacent joints among (n - 2) intermediate joints. (C) 2018 Elsevier Ltd. All rights reserved.
机译：对于N-LINK欠抖动旋转平面机器人，具有在同一垂直平面中移动的所有连杆，本文研究了机器人的线性强的结构可控性和仅具有UEP周围的有源中间关节或活性中间关节的机器人的可观察性（直立均衡点），所有链接处于直立位置的地方。首先，当机器人具有有源中间关节或有源中间非相邻的关节时，我们表明机器人通过说明性示例，机器人通过说明性示例在UEP周围在UEP上线性地在结构上不可控制，并且总是存在一组线性呈现机器人的物理参数无法控制和围绕UEP的不可监督。其次，当机器人只有两个有效的中间相邻的关节时，在没有对机器人的物理参数上进行任何假设时，我们表明机器人在UEP周围线性地在结构上可靠地控制和可观察到。因此，具有其第一和最后一个接头被动的机器人是线性的，如果在（n-2）中间关节中有至少两个有源相邻的关节，则围绕UEP线性地在结构上可控并且可观察到。 （c）2018年elestvier有限公司保留所有权利。

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