Abstract
In the previous reseach, we have proposed the open-loop motion control method for an underactuated manipulator in order to swing up free link and to stabilize that at the upright position without observing the state of free joint. In this paper, we investigate the reachable area of the underactuated manipulator, which is moving in the vertical plane. Applying the proposed method more globally, we realize the positioning of the manipulator and carry out the stabilization of those cofigurations. The reachable and stabilizable positions of the tip of the unactuated link are theoretically and experimentally shown.
