抄録
Underactuated manipulators are defined by having some passive joints. Usually, general manipulators have more than an actuator in joint. Therefore, underactuated manipulators need to use more complex control than general manipulators. However, reducing the number of actuators brings some advantages such as light weighting, energy saving and cost reduction. For these reasons, underactuated manipulators are expected to be active in the space field where there is no influence of gravity. In this paper, we try to perform verification of partial stabilizing controllers for planar two-DOF underactuated manipulators. Here, we design this real-time control system with sBOXⅡ using MATLAB/Simulink. The effectiveness of this proposal method is illustrated with some experiments. In future work, we consider a switching system using partial stabilizing controllers.
https://ror.org/00pjwdc92 
