Trajectory planning and control of an underactuated planar 2R manipulator

The problem of regulation of an underactuated planar 2R manipulator is solved by tracking appropriated off-line planned trajectories. A class of parametric trajectories is proposed to reach a desired configuration. An optimization algorithm is proposed to find the parameters. Besides, a feedback control is proposed to regulate the manipulator under error modeling and small deviations on the initial conditions. By using simulations, it is illustrated that if the coordinates of the underactuated system track the planned trajectories then the system reaches the desired configuration