Synthesis of control of a manipulator with two links (Q1386942)

The subject of this paper is a simple and specific robotic problem of designing bounded controls for the 2R planar manipulator of the inverted double pendulum type. The method of control synthesis is based on the decoupling of the dynamics model using an assumption that the coupling terms, treated as disturbances, remain bounded. Within this framework, a control scheme resembling the sliding-mode control is developed.