Abstract
In this paper, we consider an under actuated two-link manipulator, whose first link is actuated and second link is not actuated, and analytically propose the position control method. We analytically show that any relative angles can be fixed points in this system under a high frequency excitation of the first link. The relationship between the relative angle and the excitation frequency is described by using bifurcation diagrams. The validity of the analytically proposed position control method for the under actuated two-link manipulator is confirmed through numerical simulations.
