Inverse control of a three-link manipulator Original Research Article

This work deals with the control of a three-link planar manipulator. The problem that is addressed is to develop control laws for the manipulator such that various end-effector maneuvers can be performed. A particular maneuver that is considered here is for the end-effector to follow a given trajectory in the vertical plane. In addition, the problem of moving the end-effector during a given time interval from an initial state to a final state is also considered. A procedure for determining control laws for solving the above-mentioned problems is proposed.