Control of a three-link manipulator with inequality constraints on the trajectories of its joints (Q5948809)

The work deals with the control of a three-link planar manipulator whose motion is subjected to inequality constraints on the trajectories of its joints, and to other constraints on the trajectory of the end-effector. It is assumed that the motion of the manipulator is driven by three motors. The first motor is located at the base of the first link, the second is located at the joint between the first and the second links, and the third motor is located at the joint between the second and the third links. The equations of motion of the system and the corresponding constraints are determined. An approach to find appropriate control laws is proposed. A concrete example is presented.