Modified Linear Technique for the Controllability and Observability of Robotic Arms
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...
| Main Authors: | , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9667518/ |
| _version_ | 1818753437605560320 |
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| author | Jose De Jesus Rubio Eduardo Orozco Daniel Andres Cordova Marco Antonio Islas Jaime Pacheco Guadalupe Juliana Gutierrez Alejandro Zacarias Luis Arturo Soriano Jesus Alberto Meda-Campana Dante Mujica-Vargas |
| author_facet | Jose De Jesus Rubio Eduardo Orozco Daniel Andres Cordova Marco Antonio Islas Jaime Pacheco Guadalupe Juliana Gutierrez Alejandro Zacarias Luis Arturo Soriano Jesus Alberto Meda-Campana Dante Mujica-Vargas |
| author_sort | Jose De Jesus Rubio |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-18T05:07:21Z |
| format | Article |
| id | doaj.art-ff960e6bbd07439780b96eacc53eb27e |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-18T05:07:21Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-ff960e6bbd07439780b96eacc53eb27e2022-12-21T21:19:59ZengIEEEIEEE Access2169-35362022-01-01103366337710.1109/ACCESS.2021.31401609667518Modified Linear Technique for the Controllability and Observability of Robotic ArmsJose De Jesus Rubio0https://orcid.org/0000-0002-2005-5979Eduardo Orozco1Daniel Andres Cordova2Marco Antonio Islas3Jaime Pacheco4Guadalupe Juliana Gutierrez5Alejandro Zacarias6https://orcid.org/0000-0002-6427-4911Luis Arturo Soriano7https://orcid.org/0000-0003-3299-9851Jesus Alberto Meda-Campana8https://orcid.org/0000-0001-6557-2745Dante Mujica-Vargas9https://orcid.org/0000-0001-8665-4096Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Santa Catarina, México City, MéxicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Santa Catarina, México City, MéxicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Santa Catarina, México City, MéxicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Santa Catarina, México City, MéxicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Santa Catarina, México City, MéxicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Santa Catarina, México City, MéxicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Santa Catarina, México City, MéxicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Santa Catarina, México City, MéxicoSección de Estudios de Posgrado e Investigación, ESIME Zacatenco, Instituto Politécnico Nacional, Av. IPN S/N, Col. Lindavista, México City, MéxicoDepartment of Computer Science, Tecnológico Nacional de México/CENIDET, Interior Internado Palmira S/N, Palmira, Cuernavaca, MéxicoIn 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.https://ieeexplore.ieee.org/document/9667518/Controllabilityobservabilitymodifiedlinearlinearizationrobotic arms |
| spellingShingle | Jose De Jesus Rubio Eduardo Orozco Daniel Andres Cordova Marco Antonio Islas Jaime Pacheco Guadalupe Juliana Gutierrez Alejandro Zacarias Luis Arturo Soriano Jesus Alberto Meda-Campana Dante Mujica-Vargas Modified Linear Technique for the Controllability and Observability of Robotic Arms IEEE Access Controllability observability modified linear linearization robotic arms |
| title | Modified Linear Technique for the Controllability and Observability of Robotic Arms |
| title_full | Modified Linear Technique for the Controllability and Observability of Robotic Arms |
| title_fullStr | Modified Linear Technique for the Controllability and Observability of Robotic Arms |
| title_full_unstemmed | Modified Linear Technique for the Controllability and Observability of Robotic Arms |
| title_short | Modified Linear Technique for the Controllability and Observability of Robotic Arms |
| title_sort | modified linear technique for the controllability and observability of robotic arms |
| topic | Controllability observability modified linear linearization robotic arms |
| url | https://ieeexplore.ieee.org/document/9667518/ |
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