Trajectory tracking experiments using a novel manipulator

Abstract The paper focuses on a novel ground-based prototype manipulator. The system has two identical modules connected in a chain topology. Each module consists of two links: one free to slew while the other is permitted to deploy. To begin with, design, construction and integration of the manipulator are explained. This is followed by the development of a mathematical model for the manipulator using the Lagrangian procedure. Finally, a series of trajectories are tracked using the proportional-integral-derivative (PID) control and feedback linearization technique (FLT). The objective is the real-time implementation of the control algorithms, developed for the unique space manipulator, on a earth-based prototype system.