Normalised-generalised-velocity-component-based controller for a rigid serial manipulator

A controller based o first-order decoupled equations of motio for applicatio to rigid serial manipulators is presented. The equations result from a modificatio of equations expressed i generalised velocity components form. It is sho that using the proposed quasi-velocities i.e. normalised generalised velocity components (NGVCs) leads to differential equations that contai the identity mass matrix (instead of a diagonal matrix). Using the proposed controller and equations ritte i terms of NGVCs it is possible to obtai informatio o the system dynamics. The considered controller is stable i the Lyapunov sense. Experimental results obtained o a 2DOF (t o-degree-of-freedom) manipulator illustrate the effectiveness of the proposed technique.