Abstract
This paper describes a method of reactionless point-to-point motion control of a planar 3R manipulator on a free-floating base, utilizing the transposed Jacobian matrix. In case of reactionless motion control the singularity problem is of complex nature and the accessible workspace is severely limited. To alleviate the problem, we divide the joints into two sets. The joint closest to the base is used to constrain the base orientation. The other two joints are used to position the manipulator end-effector. As a result, the behavior of the system becomes sufficiently simple to analyze the accessible area via a geometric approach. We conclude that if the desired position is set in the specified area, reactionless point-to-point motion control can be accomplished regardless of the initial configuration of the manipulator.
