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

收藏

页数：18

相关论文

共 50 条

[41] The effect of tetra isopropyl orthotitanate (TIP) concentration on structural, and luminescence properties of titanium dioxide nanoparticles prepared by sol-gel method [J].

Muthee, D. K. ;

Dejene, B. F. .

MATERIALS SCIENCE IN SEMICONDUCTOR PROCESSING, 2020, 106

[42] Evolution of structural and optical properties of rutile TiO2 thin films synthesized at room temperature by chemical bath deposition method [J].

Mayabadi, A. H. ;

Waman, V. S. ;

Kamble, M. M. ;

Ghosh, S. S. ;

Gabhale, B. B. ;

Rondiya, S. R. ;

Rokade, A. V. ;

Khadtare, S. S. ;

Sathe, V. G. ;

Pathan, H. M. ;

Gosavi, S. W. ;

Jadkar, S. R. .

JOURNAL OF PHYSICS AND CHEMISTRY OF SOLIDS, 2014, 75 (02) :182-187

[43] Carbon Dioxide Reforming of Methane over Ni Supported SiO2: Influence of the Preparation Method on the Resulting Structural Properties and Catalytic Activity [J].

Ren, Hua-Ping ;

Tian, Shao-Peng ;

Ding, Si-Yi ;

Huang, Gui-Qiu ;

Zhu, Min ;

Ma, Qiang ;

Song, Wen-Qi ;

Zhao, Yu-Zhen ;

Miao, Zongcheng ;

Wang, Wei .

CATALYSTS, 2020, 10 (07) :1-10

[44] Improved magnetic, optical, electrochemical, and structural properties of copper ferrite through the optimized addition of samarium dopant using the co-precipitation method [J].

Masunga, Ngonidzashe ;

Mamba, Bhekie B. ;

Kefeni, Kebede K. .

MATERIALS SCIENCE AND ENGINEERING B-ADVANCED FUNCTIONAL SOLID-STATE MATERIALS, 2023, 296

[45] Toward better understanding of anharmonic structural, thermodynamic, and elastic properties of CaSiO 3 perovskite under extreme conditions via statistical moment method [J].

Hoc, Nguyen Quang ;

Nga, Than Thi ;

Thang, Ngo Ngoc ;

Ngoc, Bui Lan ;

Ngoc, Nguyen Thi ;

Lam, Le Thu .

MATERIALIA, 2024, 34

[46] Evaluation of physicochemical, structural, and antioxidant properties of microencapsulated seed extract from Securigera securidaca by co-crystallization method during storage time [J].

Behnamnik, Ali ;

Vazifedoost, Mohsen ;

Didar, Zohreh ;

Hajirostamloo, Bahareh .

BIOCATALYSIS AND AGRICULTURAL BIOTECHNOLOGY, 2021, 35

[47] Structural, microstructural and magneto-electric properties of single-phase BiFeO3 nanoceramics prepared by auto-combustion method [J].

Tripathy, Satya Narayan ;

Mishra, B. G. ;

Shirolkar, Mandar M. ;

Sen, S. ;

Das, Suprem R. ;

Janes, David B. ;

Pradhan, Dillip K. .

MATERIALS CHEMISTRY AND PHYSICS, 2013, 141 (01) :423-431

[48] Ab-initio investigation of the structural, electronic and optical properties of CsPbBr 3 perovskite under pressure using the DFT-1/2 method [J].

Chailoo, Zeinab ;

Noshad, Houshyar ;

Doroudi, Alireza .

PHYSICA B-CONDENSED MATTER, 2024, 686

[49] Characterization of structural, chemical, and dielectric properties of (K, Na, Li)(Ta, Sb, Nb)O3 single crystals grown by Bridgman-Stockbarger method [J].

Fernandes, Thissiana da C. ;

Eiras, Jose A. ;

Lente, Manuel H. .

JOURNAL OF MATERIALS SCIENCE-MATERIALS IN ELECTRONICS, 2025, 36 (10)

[50] Structural and electronic properties of V2O5 and their tuning by doping with 3d elements - modelling using the DFT plus U method and dispersion correction [J].

Jovanovic, A. ;

Dobrota, A. S. ;

Rafailovic, L. D. ;

Mentus, S. V. ;

Pasti, I. A. ;

Johansson, B. ;

Skorodumova, N. V. .

PHYSICAL CHEMISTRY CHEMICAL PHYSICS, 2018, 20 (20) :13934-13943

← 1 2 3 4 5 →