Abstract
AbstractThe dynamical model of a two-link planar robot with one rigid-link, one flexible forearm and a payload attached to its tip, is represented in a cascade-like fashion using a convenient change of state coordinates which is found by observing the structure of the inertia matrix of the system model. The new system representation makes possible to devise a way to stabilize the overall system by designing a suitable trajectory for the angular positions of the joint shafts, in terms of the new state coordinates. These trajectories of the joints are used as virtual control signals that allow the controlling of the end effector position. Some simulation results are presented in which sliding mode control is employed to successfully perform regulation and trajectory tracking of the end effector.
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