Workspace control of biarticular manipulator

This paper presents the workspace/taskspace control of a planar biarticular robot manipulator with linear actuation. Due to the nature of the biarticular structure, the configuration is closed link and has to include the constraints of the system. This paper presents the modelling of the planar structure and the simulation of workspace control by two methods, inverse kinematics and direct cartesian control using simplified inertia terms. Comparison is then done between the two methods to conclude the advantages and disadvantages. A significant finding is that by using the simplified two-link planar terms on the complex structure, control is achieved and improved.