TY - JOUR
T1 - Modified Linear Technique for the Controllability and Observability of Robotic Arms
AU - Rubio, Jose De Jesus
AU - Orozco, Eduardo
AU - Cordova, Daniel Andres
AU - Islas, Marco Antonio
AU - Pacheco, Jaime
AU - Gutierrez, Guadalupe Juliana
AU - Zacarias, Alejandro
AU - Soriano, Luis Arturo
AU - Meda-Campana, Jesus Alberto
AU - Mujica-Vargas, Dante
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2022
Y1 - 2022
N2 - In this study, a modified linear technique is proposed for the controllability and observability of robotic arms, the modified linear technique consists of the following steps: a transformation is used to rewrite a nonlinear time-variant model as a quasi-linear time-variant model, this quasi-linear time-variant model is evaluated at origin to obtain a linear time-invariant model, and the rank condition tests the controllability and observability of the linear time-invariant model. The modified linear technique is better than the linearization technique because the modified linear technique does not use the Jacobian approximation, while the linearization technique needs the Jacobian approximation. The modified linear technique is better than the linear technique because the modified linear technique can be applied to robotic arms with rotational and prismatic joints, while the linear technique can only be applied to robotic arms with rotational joints.
AB - In this study, a modified linear technique is proposed for the controllability and observability of robotic arms, the modified linear technique consists of the following steps: a transformation is used to rewrite a nonlinear time-variant model as a quasi-linear time-variant model, this quasi-linear time-variant model is evaluated at origin to obtain a linear time-invariant model, and the rank condition tests the controllability and observability of the linear time-invariant model. The modified linear technique is better than the linearization technique because the modified linear technique does not use the Jacobian approximation, while the linearization technique needs the Jacobian approximation. The modified linear technique is better than the linear technique because the modified linear technique can be applied to robotic arms with rotational and prismatic joints, while the linear technique can only be applied to robotic arms with rotational joints.
KW - Controllability
KW - Linear
KW - Linearization
KW - Modified
KW - Observability
KW - Robotic arms
UR - http://www.scopus.com/inward/record.url?scp=85122565801&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2021.3140160
DO - 10.1109/ACCESS.2021.3140160
M3 - Artículo
AN - SCOPUS:85122565801
SN - 2169-3536
VL - 10
SP - 3366
EP - 3377
JO - IEEE Access
JF - IEEE Access
ER -