Posture Control of A Planar Two-link Torque Unit Manipulator by Periodic Input

Abstract

In this research, we consider a posture control problem of the planer two-link torque unit manipulator under viscous friction condition. The torque unit is a module which consists of an electric motor and a reaction wheel. The friction arising from the presence of a viscous environment cannot be ignored in the real system. In this report, we propose the method to control the second link to the rotation angle 0 by using a periodic input. Next, we consider the relation between the periodic motion of the links and the periodic motion of the reaction wheels. Then, we consider the influence of the viscous friction on the joints of the links and the viscous friction on the motor axes of the reaction wheels.