Inverse dynamics control in terms of unnormalized quasi-velocities (Q1763978)

The synthesis problem of the decoupling control for a chain of rigid bodies in terms of unnormalized quasi-velocities (UQV) is considered. With the use of such coordinates, the dynamic of manipulators may be represented as a system of \(n\) differential equation of the first order and \(n\) nonholonomic restrictions. The features of such an approach consists in that: a) dynamical equations have a normal form with diagonal mass matrix at derivatives b) if UQV are used, then we can detect the kinetic energy in each link and calculate the rotational inertia which is transferred by each manipulator link. In some sense it allows us to measure and to regulate the degree of mechanical coupling between the links of the chain. The velocity tracking control with exponential rate of convergence in terms of UQV and its interpretation is proposed. This control holds in the case when UQV are integrable with respect to time. It is noted that in general, the integrals do not exist for UQV, but for a planar manipulator, one can find them as some curvilinear velocities. Simulation results show that some performance of the proposed controller are given for planar manipulator KARI-2 which has the double pendulum structure.