Modified Linear Technique for the Controllability and Observability of Robotic Arms

• Published in: IEEE access Vol. 10; pp. 3366 - 3377
• Main Authors: Rubio, Jose De Jesus, Orozco, Eduardo, Cordova, Daniel Andres, Islas, Marco Antonio, Pacheco, Jaime, Gutierrez, Guadalupe Juliana, Zacarias, Alejandro, Soriano, Luis Arturo, Meda-Campana, Jesus Alberto, Mujica-Vargas, Dante
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Approximation; Arms; Controllability; Invariants; Jacobian matrices; linear; Linearization; Linearization techniques; Manipulators; Mathematical analysis; Mathematical models; modified; Observability; Observability (systems); Robot arms; robotic arms; Robotics
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2021.3140160

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.