Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics
Pietro Pustina,
Cosimo Della Santina,
Frédéric Boyer
et al.
Abstract:Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? Not only we show that the answer to this question is yes, but we also provide necessary and sufficient conditions. More specifically, we look for a representation of the configuration space such that … Show more
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