Point to point control design for the three-link planar robot

Abstract

In this paper we design a control for a planar robot arm with three links in the absence of external forces. We begin with an introduction to the physical system and develop the equations of motion from conservation laws. After de ning the control goal, we introduce techniques to study non-linear control systems. A control for the three-link planar robot arm in free space is developed using linearization by prolongations. We nish this paper with simulations of the proposed control and verifying that the control goal is ful lled