On n-link planar revolute robot: Motion equations and new properties

Yannian Liu; Xin Xin; Jinglong Wu

doi:10.1109/WCICA.2014.7053259

On n-link planar revolute robot: Motion equations and new properties

Yannian Liu, Xin Xin, Jinglong Wu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Multilink planar revolute robots or multilink pendulum-type robots are interesting benchmark systems for control and robotics. In this paper, we present an elementary derivation for motion equations of an n-link planar robot with all rotational joints moving in the vertical plane. Moreover, we prove several known properties and present several new properties on the mechanical parameters in the motion equations of the robot. These results are believed to be useful to study the problems of an n-link planar robot with one or more underactuated joints such as the controllability and the swing-up and stabilizing control regarding the changes of the number and location of actuators of the robot.

Original language	English
Title of host publication	Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3286-3291
Number of pages	6
Edition	March
ISBN (Electronic)	9781479958252
DOIs	https://doi.org/10.1109/WCICA.2014.7053259
Publication status	Published - 2 Mar 2015
Externally published	Yes
Event	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, China Duration: 29 Jun 2014 → 4 Jul 2014

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Number	March
Volume	2015-March

Conference

Conference	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Country/Territory	China
City	Shenyang
Period	29/06/14 → 4/07/14

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10.1109/WCICA.2014.7053259

Cite this

Liu, Y., Xin, X., & Wu, J. (2015). On n-link planar revolute robot: Motion equations and new properties. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March ed., pp. 3286-3291). Article 7053259 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2014.7053259

Liu, Yannian ; Xin, Xin ; Wu, Jinglong. / On n-link planar revolute robot : Motion equations and new properties. Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 3286-3291 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March).

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title = "On n-link planar revolute robot: Motion equations and new properties",

abstract = "Multilink planar revolute robots or multilink pendulum-type robots are interesting benchmark systems for control and robotics. In this paper, we present an elementary derivation for motion equations of an n-link planar robot with all rotational joints moving in the vertical plane. Moreover, we prove several known properties and present several new properties on the mechanical parameters in the motion equations of the robot. These results are believed to be useful to study the problems of an n-link planar robot with one or more underactuated joints such as the controllability and the swing-up and stabilizing control regarding the changes of the number and location of actuators of the robot.",

author = "Yannian Liu and Xin Xin and Jinglong Wu",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",

year = "2015",

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doi = "10.1109/WCICA.2014.7053259",

language = "English",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Liu, Y, Xin, X & Wu, J 2015, On n-link planar revolute robot: Motion equations and new properties. in Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March edn, 7053259, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), no. March, vol. 2015-March, Institute of Electrical and Electronics Engineers Inc., pp. 3286-3291, 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014, Shenyang, China, 29/06/14. https://doi.org/10.1109/WCICA.2014.7053259

On n-link planar revolute robot: Motion equations and new properties. / Liu, Yannian; Xin, Xin; Wu, Jinglong.
Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 3286-3291 7053259 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Multilink planar revolute robots or multilink pendulum-type robots are interesting benchmark systems for control and robotics. In this paper, we present an elementary derivation for motion equations of an n-link planar robot with all rotational joints moving in the vertical plane. Moreover, we prove several known properties and present several new properties on the mechanical parameters in the motion equations of the robot. These results are believed to be useful to study the problems of an n-link planar robot with one or more underactuated joints such as the controllability and the swing-up and stabilizing control regarding the changes of the number and location of actuators of the robot.

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Liu Y, Xin X, Wu J. On n-link planar revolute robot: Motion equations and new properties. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 3286-3291. 7053259. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March). doi: 10.1109/WCICA.2014.7053259

On n-link planar revolute robot: Motion equations and new properties

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