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Stabilization of an underactuated planar 2R manipulator

✍ Scribed by Alessandro De Luca; Raffaella Mattone; Giuseppe Oriolo

Publisher
John Wiley and Sons
Year
2000
Tongue
English
Weight
190 KB
Volume
10
Category
Article
ISSN
1049-8923

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✦ Synopsis

We describe a technique for the stabilization of a 2R robot moving in the horizontal plane with a single actuator at the base, an interesting example of underactuated mechanical system that is not smoothly stabilizable. The proposed method is based on a recently introduced iterative steering paradigm, which prescribes the repeated application of an error contracting open-loop control law. In order to compute e$ciently such a law, the dynamic equations of the robot are transformed via partial feedback linearization and nilpotent approximation. Simulation and experimental results are presented for a laboratory prototype.

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