TY - JOUR
T1 - Transformed structural properties method to determine the controllability and observability of robots
AU - Martinez, Dany Ivan
AU - Rubio, José De Jesús
AU - Garcia, Victor
AU - Vargas, Tomas Miguel
AU - Islas, Marco Antonio
AU - Pacheco, Jaime
AU - Gutierrez, Guadalupe Juliana
AU - Meda-Campaña, Jesus Alberto
AU - Mujica-Vargas, Dante
AU - Aguilar-Ibañez, Carlos
N1 - Publisher Copyright:
© 2021 by the authors.
PY - 2021/4/1
Y1 - 2021/4/1
N2 - 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.
AB - 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.
KW - Controllability
KW - Linearization
KW - Observability
KW - Robots
KW - Transformation
UR - http://www.scopus.com/inward/record.url?scp=85103556443&partnerID=8YFLogxK
U2 - 10.3390/app11073082
DO - 10.3390/app11073082
M3 - Artículo
AN - SCOPUS:85103556443
SN - 2076-3417
VL - 11
JO - Applied Sciences (Switzerland)
JF - Applied Sciences (Switzerland)
IS - 7
M1 - 3082
ER -