Time-scaling control of an underactuated manipulator

Position control of an underactuated manipulator that has one passive joint is investigated. The dynamic constraint caused by the passive joint is second-order nonholonomic. Time-scaling of the active joint trajectory and bi-directional motion planning from the initial and the desired configurations provide an exact solution of the positioning trajectory. The active and passive joints can be positioned to the desired angles simultaneously by swinging the active joints only twice. Feedback control constrains the manipulator along the planned path in the configuration space. Simulation and experimental results show the validity of the proposed methods