Modelling and control of a Puma-like manipulator

This work deals with the modelling and control of a Puma-like manipulator. A control problem concerning the motion of the manipulatorʹs end-effector in the half space {(x, y, z) : z ⪢ H}, H ⪢ 0, is dealt with. The problem is solved by first using an inverse dynamics transformation, and then by minimizing a penalty function.