@inproceedings{b079a828270143b492e9384e3e3a3863,
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",
month = mar,
day = "2",
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.",
number = "March",
pages = "3286--3291",
booktitle = "Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014",
address = "United States",
edition = "March",
}