Point-to-point control of a 2 R planar horizontal underactuated manipulator

@inproceedings{Mahindrakar2005PointtopointCO,
  title={Point-to-point control of a 2 R planar horizontal underactuated manipulator},
  author={Arun D. Mahindrakar and Shodhan Rao and Ravi N. Banavar},
  year={2005}
}
This paper presents a control strategy for a two-link manipulator with revolute joints (2R) with an unactuated second joint, wherein the motion of the system is confined to a horizontal plane. The model takes into account the frictional forces present in the system. The control objective is to move the end-effector from a given position to a target point. The methodology involves two stages. In the first stage a finite-time controller is used to move the passive link to its desired position. In… CONTINUE READING
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