Feedback Control of a Three-Link Planar Under-Actuated Manipulator Using a SurgeVelocity

摘要

An under-actuated robot manipulator is one that has fewer number of jointactuators than the number of degrees of freedom of the manipulator. Such manipulators are studied with the objective of developing smarter mechanical systems; ones that can provide low-cost automation, and enable design simplification. While in space these manipulators can afford to have any kind of mechanical structure, on earth they need to be strictly planar to be feasible. In this paper, we develop a control scheme for a three link planar robot manipulator with two actuators such that it can reach any joint configuration from any other. We assume that the first joint of the robot is passive, and is provided with a brake and a rotary dashpot. We show that our control is robust to the variations in certain parameters and unmodelled dynamics like stiction. Lyapunov functions, Kinematic approach, Dynamic approach, Surge velocity, Under-actuated manipulator.