Analysis and control techniques for two-link underactuated manipulator

This paper presents an analysis and control technique for an underactuated robotic manipulator. The manipulator considered has two links and two joints — one actuator in each joint. To implement underactuation, one of the manipulators is omitted; simulating a scenario of a manipulator going bad. It is attempted to create a more accurate mathematical model for the underactuated system and linearization is avoided in order to get better results. Optimal control techniques are then applied on the dynamical equations of the system in order to make it achieve a desired state. Since the second arm of the manipulator cannot be controlled, one of the motors will have to be controlled in such a way that the second arm oscillates around the desired point. The simulations should show the same.