Development of Experiment Verification Environments using Real-Time Control for Three-Link Underactuated Manipulators

Abstract

Underactuated manipulators have some passive joints in general, where the number of inputs is less than the degrees of freedom. These systems have complex properties in structure and they have to control a lot of generalized coordinates by few inputs. Here we use MATLAB/Simulink that is software for numerical calculation. It is designed to controllers for underactuated manipulators. In this paper, we try to constitute Real-Time control environments. Then we control a DC-motor using speed control method and position control method with tracking reference signals using trapezoidal drive control. The effectiveness of the proposed method is illustrated through some simulations and experimentations.