Controllability of a 4-D.O.F. Planar Manipulator with Two Unactuated Joints

In this paper, we prove that a 4-D.O.F planar manipulator which consists of two actuated joints and two unactuated joints is completely controllable, namely, there exists an input to drive the system from any given initial state to any state in finite time. The proof exploits the mechanical properties of the planar systems.

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