Distributed formation control of end-effector of mixed planar fully- and under-actuated manipulators

09/14/2023
by   Zhiyu Peng, et al.
0

This paper addresses the problem of end-effector formation control for a mixed group of two-link manipulators moving in a horizontal plane that comprises of fully-actuated manipulators and underactuated manipulators with only the second joint being actuated (referred to as the passive-active (PA) manipulators). The problem is solved by extending the distributed end-effector formation controller for the fully-actuated manipulator to the PA manipulator moving in a horizontal plane by using its integrability. This paper presents stability analysis of the closed-loop systems under a given necessary condition, and we prove that the manipulators' end-effector converge to the desired formation shape. The proposed method is validated by simulations.

READ FULL TEXT

Please sign up or login with your details

Forgot password? Click here to reset