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CONTROL OF AN UNDERACTUATED PLANAR 2R MANIPULATOR: EXPERIMENTAL RESULTS
J. Alfredo Rosas-Flores* Jaime Alvarez-Gallegos**
Rafael Castro-Linares**
* UPIITA-IPN Departamento de Tecnologías Avanzadas Av. IPN
#2580, Col. La Laguna Ticomán México D. F., C. P. 07340 Fax:
52-5-752-9318 e-mail:jarosas@mail.cinvestav.mx
** CINVESTAV-IPN Depto. de Ing. Eléctrica. Sección de
Mecatrónica Av. IPN # 2508, Col. Sn. Pedro Zacatenco Apdo.
Postal 14-740, 07300 México D. F., México Fax: 52-5-747-3866
In this article the problem of regulation of an underactuated planar 2R manipulator is solved by tracking appropriated off-line planned trajectories. A class of parametric trajectories is propossed to reach a desired configuration. An optimization scheme is proposed to find the parameters. Besides, a feedback control is proposed to regulate the manipulator under error modeling. Through experiments, it is illustrated that if the coordinates of the underactuated system track the planned trajectories then the system reaches the desired configuration.
Keywords: Underactuated manipulator, regulation, trajectory planning, optimization, sliding modes
Session slot T-Tu-A20: Industrial Robotics/Area code 1d : Robotics
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