Transformed Structural Properties Method to Determine the Controllability and Observability of Robots

被引：20

作者：

Ivan Martinez, Dany ^{[1
]}

de Jesus Rubio, Jose ^{[1
]}

Garcia, Victor ^{[1
]}

Miguel Vargas, Tomas ^{[1
]}

Antonio Islas, Marco ^{[1
]}

Pacheco, Jaime ^{[1
]}

Juliana Gutierrez, Guadalupe ^{[1
]}

Alberto Meda-Campana, Jesus ^{[2
]}

Mujica-Vargas, Dante ^{[3
]}

Aguilar-Ibanez, Carlos ^{[4
]}

机构：

[1] Inst Politecn Nacl, Secc Estudios Posgrad & Invest, ESIME Azcapotzalco, Av Granjas 682, Ciudad De Mexico 02250, Mexico

[2] Inst Politecn Nacl, Secc Estudios Posgrad & Invest, ESIME Zacatenco, Av IPN S-N, Mexico City 07738, DF, Mexico

[3] Tecnol Nacl Mexico, CENIDET, Dept Comp Sci, Interior Internado Palmira S-N, Cuernavaca 62490, Morelos, Mexico

[4] Inst Politecn Nacl, Ctr Invest Comp, Av Juan de Dios Batiz S-N, Mexico City 07738, DF, Mexico

来源：

APPLIED SCIENCES-BASEL | 2021年 / 11卷 / 07期

关键词：

controllability; observability; transformation; linearization; robots; PLANAR ROBOT; STABILITY;

D O I：

10.3390/app11073082

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

Many investigations use a linearization method, and others use a structural properties method to determine the controllability and observability of robots. In this study, we propose a transformed structural properties method to determine the controllability and observability of robots, which is the combination of the linearization and the structural properties methods. The proposed method uses a transformation in the robot model to obtain a linear robot model with the gravity terms and uses the linearization of the gravity terms to obtain the linear robot model; this linear robot model is used to determine controllability and observability. The described combination evades the structural conditions requirement and decreases the approximation error. The proposed method is better than previous methods because the proposed method can obtain more precise controllability and observability results. The modified structural properties method is compared with the linearization method to determine the controllability and observability of three robots.

引用

页数：18

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