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Article
Controllability and Point-To-Point Control of 3-DOF Planar Horizontal Underactuated Manipulators
International Journal of Control (2005)
  • Arun D. Mahindrakar
  • R. N. Banavar
  • Mahmut Reyhanoglu, Embry-Riddle Aeronautical University - Daytona Beach
Abstract
"This paper presents the controllability properties of an underactuated 3R manipulator and the application of a discontinuous point-to-point control law for a three-degree-of-freedom (DOF) PPR manipulator. In the first half we present a controllability analysis at various actuator configurations of the manipulator. A novel contribution is that we use a single co-ordinate system to analyse the controllability at all the three possible configurations. In the second half we present a discontinuous feedback control law for point-to-point control of a 3 DOF PPR underactuated manipulator moving in a horizontal plane. Simulation results are presented that demonstrate the effectiveness of the controller."--From the article.
Keywords
  • actuators,
  • computer simulation,
  • controllability,
  • degrees of freedom,
  • feedback control
Publication Date
January, 2005
DOI
https://doi.org/10.1080/00207170412331317422
Citation Information
Arun D. Mahindrakar, R. N. Banavar and Mahmut Reyhanoglu. "Controllability and Point-To-Point Control of 3-DOF Planar Horizontal Underactuated Manipulators" International Journal of Control Vol. 78 Iss. 1 (2005) p. 1 - 13 ISSN: 0020-7179
Available at: http://works.bepress.com/mahmut_reyhanoglu/40/