Operational Space Control for Planar PAN–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming
Xiangyu Chu Yunxi Tang Alessandro M. Giordano Tan Chen K. W. Samuel Au Xiangyu Chu Yunxi Tang Alessandro M. Giordano Tan Chen K. W. Samuel Au
In this paper, we propose an operational space control formulation for a planar N-link underactuated manipulator (PAN–1)1 with a passive first joint subject to actuator constraints (N ⩾ 3), covering both stabilization and tracking tasks. Such underactuated manipulators have an inherent first-order nonholonomic constraint, allowing us to project their dynamics to a space consistent with the nonholo...