Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics
Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics
Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found?</i> Not …