Abstract
Small-time local controllability (STLC) is important in controls, both for design considerations and because large and swinging maneuvers may be avoided for close reconfiguration if a system is STLC. Despite the fact that controllability of underactuated horizontal planar manipulators has been extensively studied, most work focused only on three-link and global controllability. This paper extends those results by studying accessibility and STLC of an $N$ -link horizontal planar pendubot, i.e., a horizontal planar manipulator with only one degree of unactuation but with the first (base) joint actuated. It considers two-link and $N$ -link ( $N\geq 3$ ) pendubots with different actuator configurations, and shows that an $N$ -link ( $N\geq 3$ ) pendubot is STLC for a subset of equilibrium points based on Sussmann's general theorem for STLC.
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