On the control of a constrained multibody system Original Research Article

This work deals with the modelling and control of the motion of a constrained multibody system. The system is composed of four uniform links, two torque actuated joints and three passive joints. All the links are moving in the horizontal plane, see Fig. 1. Given two configurations A and B of the system, and a time interval [0, tf]. The problem dealt with in this work is to compute the control torques for each of the actuated joints such that the system will move during [0, tf] from configuration A to configuration B subject to various constraints on the motion.