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Computer Methods in Applied Mechanics and Engineering
Volume 190, Issues 40-41, 20 July 2001, Pages 5311-5324

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doi:10.1016/S0045-7825(01)00164-5
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Copyright 2001 Elsevier Science B.V. All rights reserved.
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Inverse control of a three-link manipulator
C. Frangosa and Y. Yavin
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Department of Statistics, The Rand Afrikaans University, P.O. Box 524, Auckland Park 2006, Johannesburg, South Africa
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Department of Electrical and Electronic Engineering, University of Pretoria, Pretoria 0002, South Africa
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Received 14 June 2000. Available online 5 July 2001.
Abstract
This work deals with the control of a three-link planar manipulator. The problem that is addressed is to develop control laws for the manipulator such that various end-
effector maneuvers can be performed. A particular maneuver that is considered here is for the end-effector to follow a given trajectory in the vertical plane. In addition, the
problem of moving the end-effector during a given time interval from an initial state to a final state is also considered. A procedure for determining control laws for solving the
above-mentioned problems is proposed.
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Author Keywords: Three-link planar manipulator; Inverse control; Trajectory following; Point-to-point maneuver; Path controllability
Article Outline
1. Introduction
2. Dynamical model
Control of a three-link manipulator with an inequality ...
3. Inverse control law
4. Trajectory following
Control of a three-link manipulator with a constraint o...
5. Point-to-point maneuver
6. Computational results
Computers & Mathematics with Applications
6.1. Example 1: trajectory following
Control of a three-link manipulator with inequality con...
6.2. Example 2: point-to-point maneuver
7. Conclusion
Computers & Mathematics with Applications
References
View More Related Articles
1. Introduction
This work deals with the control of a three-link planar manipulator. It is assumed here that the motion of all parts of the manipulator is confined to a vertical (X,Z)-plane. It is
further assumed that the motion of the manipulator is driven by three motors. The first motor is located at the base of the first link, the second motor is located at the joint r1
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between the first and second links, and the third motor is located at the joint r2 between the second and third links (see Fig. 1).
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Fig. 1. The configuration of the three-link manipulator.
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The problem that is addressed is to develop a control law for the manipulator such that various end-effector maneuvers can be performed. A particular maneuver that is
considered here is for the end-effector to follow a given trajectory in the (X,Z)-plane. In addition, the problem of moving the end-effector during a given time interval from an
initial state to a final state, is also considered.
A procedure is proposed for deriving control laws to solve the above-mentioned problems using a kind of inverse control.
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In principle, optimal control theory [2] can be applied to solve the above-mentioned problems. However, the proposed procedure is straightforward, direct and does not involve
an iterative process as is usually needed in solving optimal control problems.
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2. Dynamical model
In this work, we consider the control of the motion of a three-link planar manipulator. Let I,J and K be unit vectors along an inertial (X,Y,Z)-co-ordinate system. Denote by i
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i =cos( )I+sin( )K,

k
(1)
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a unit vector along the kth link, k=1,2,3 (see Fig. 1), and let
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(2)
j =sin( )I+cos( )K,

k
be a unit vector perpendicular to i , k=1,2,3, respectively. Note that

k
(3)
The motion of the manipulator is driven by three motors. The first motor is located at the origin (see Fig. 1), the second motor is located at the point r1, r1=l1i1, and the third motor
is located at r2, r2=l1i1+l2i2.
Here l denotes the length of link k, k=1,2,3. Also, r , the location of the center of mass of link k, k=1,2,3, is given by r 1=l 1i1, r 2=l1i1+l 2i2 and r 3=l1i1+l2i2+l 3i3,
k
Ck
C
C
C
C
C
C
0<l <l , k=1,2,3. In addition, the location of the end-effector is given by r

Ck
=l1i1+l2i2+l3i3.
EF
Denote by m the mass of link k and by m , the mass of motor k, k=1,2,3. Thus, using these notations, the Lagrangian function for the motion of the manipulator is given by
k
Rk
where
(4)
a11=m1l 12+I1+(m2+m 2+m3+m 3)l12,

C
R
R
a22=m2l 22+I2+(m3+m 3)l22, a33=m3l 32+I3,

C
R
C
a12=m2l1l 2+(m3+m 3)l1l2, a13=m3l1l 3,

C
R
C
a23=m3l2l 3, V 1=m1l 1+(m2+m 2+m3+m 3)l1,

C
O
C
R
R
V 2=m2l 2+(m3+m 3)l2, V 3=m3l 3.

O
C
R
O
C
In the expressions above , I denotes the moment of inertia of link k about a vector in the direction of J located at r , k=1,2,3. Note that the motors are considered here as
k
Ck
point masses, as their rotational kinetic energies are assumed to be negligible with respect to the corresponding rotational kinetic energies of the links.
Denote
The vector r
EF
is given by r
=x
EF
I+z
EF
K where x
EF
= =13l cos( ) and z
EF
= =13l sin( ). Hence, v
EF
=dr
EF
/dt is given by,
EF
(5)
and
(6)
The equations of motion of the system are determined by the Lagrange equations ([1]),
(7)
where T is the torque applied by motor j on link j, j=1,2,3.

j
Thus, using the Lagrangian function (4) and the Lagrange equations, (7), the following equations are obtained:
where, using the notations T=[T1,T2,T3] ,M=[m ],i,j=1,2,3, and h=[h1,h2,h3] , and where,
ij
(8)
(9)
m11=a11, m12=a12cos(21), m13=a13cos(31),
(10)
m21=m12, m22=a22, m23=a23cos(32),
(11)
m31=m13, m32=m23, m33=a33,
(12)
(13)
(14)
It can be shown, for a proper set of parameters, that det(M(q))>0, for all ,k=1,2,3. (8), (9), (10), (11), (12), (13) and (14) constitute the dynamical model for the system dealt
k
with here.
3. Inverse control law
In this Section, a procedure is proposed for determining the manipulator control law. First, we begin by introducing the inverse dynamics control law,
T=M(q)v+h(q,p),
(15)
where v=[v1,v2,v3] , and where the v are auxiliary control functions, i=1,2,3. For the case where det(M(q))0 for all q, (8) and (15) imply
i
(16)
As is evident from Eq. (16), the inverse control separates the kinematics from the nonlinear manipulator dynamics.
Second, the auxiliary control functions v are taken here as

i
where >0,0<
ni
1, i=1,2,3, are specified parameters, and com, , i=1,2,3, is the given link-angle reference command. With the above choice of parameters the polynomials
i
(17)
(18)
f (s)=s2+2 s+ 2, i=1,2,3,
i
i ni
ni
are Hurwitz. Eq. (17) can be written in matrix form as follows:

(19)
where Z=diag(1,2,3), =diag( 1, 2, 3), =diag(2 1,2 2,2 3), and com=[com,1,com,2,com,3] .
n
n
n
s
n
n
n
Third, compute com so as to satisfy the required maneuvering goals. Two examples are considered below, namely, trajectory following and a point-to-point maneuver.
4. Trajectory following
In this Section a procedure is described for the computation of com using the kinematic manipulator model (19), (5) and (6), such that the end-effector follows a given
smooth reference trajectory in the (X,Z)-plane with representation {(x (t),z (t)), t
r
0}. Let s (t)=[x (t),z (t), dx (t)/dt, dz (t)/dt] ,t

r
s=[x
0, and define the end-effector state vector s:
,z
, dx
EF EF
/dt, dz
EF
/dt] .
EF
The objective is to find an expression for com such that the end-effector moves according to
(20)
(21)
(22)
during a finite time interval [0,t ], and where s(0) and s (0) are given, and >0,0<
f
di
di
1,i=1,2, are specified parameters.
With the above choice of parameters, the polynomials
g (s)=s2+2 s+ 2, i=1,2
i
di di
di
(23)
are Hurwitz. In this case it follows from (21) and (22) that
(24)
and
(25)
Combining Eqs. ((6), (19) and (21)), and (22) we obtain
(26)
where a=[a1,a2] is given by the right-hand side of (21) and (22). By re-arranging the terms of Eq. (26) we obtain,
(27)
In Eq. (27) A0
R23. If rank(A0) = 2, then A0A0
R22 has an inverse and a solution to Eq. (27) is given by
(28)
where
(29)
Thus, the following set of equations has to be solved simultaneously:
(30)
(31)
(32)
(33)
(34)
(35)
in any region of q such that rank(A0)=2. The values of com are computed from Eq. (34), and v is computed from Eq. (35). Thus, once v is obtained, the manipulator torque vector
T can be computed using Eq. (15).
5. Point-to-point maneuver
In this Section a procedure is described for the computation of com using the kinematic manipulator model (19), ( 5), ( 6), such that the end-effector moves during a finite
time interval [0,t ] from an initial state s(0)=Q1

f
R4 to a final state s(t )=Q2

f
R4. If a link angle reference command com can be found so as to perform this maneuver, then
we say that the end-effector is path controllable.
Using (19) and (6), we assign the right-hand side of Eq. (6) to w,
Then, using Eq. (6), it follows that
(36)
(37)
In addition we define,
(38)
where w=[w1,w2] and u=[u1,u2] is an auxiliary variable. The additional state variables w1 and w2 are introduced in order to obtain a smoother trajectory for the end-
(39)
effector acceleration d2r
/dt2. If we define a new state vector =[s ,w1,w2] , then (37) and (38) can be written is state-space form as follows:
EF
The linear system given by Eq. (39) is controllable [3]. This means that for any two points
R6 and
R6 and any finite
(40)
time interval [0,t ], one can find a control function u() such that () will move from
f
to
. One such control is given by [3]
E t t
E t
T
u(t)=(e 1( f )E2) S1((t )e 1 f(0)),t
f
[0,t ],
f
where
(41)
t
t t
t t
T
S=0 fe 1( f )E2(e 1( f )E2) dt.
(42)
Thus, the following set of equations has to be solved simultaneously:
E t t
E t
T
u(t)=(e 1( f )E2) S1((t )e 1 f(0)), t
f
[0,t ],
f
(43)
(44)
w1=5, w2=6,
(45)
(46)
in any region of q such that rank(A0)=2. The values of com are computed from Eq. (45).
Therefore, if the manipulator's variables are in any region where rank(A0) = 2, then the end-effector is path controllable.
6. Computational results
In the examples dealt with here, the following set of parameters has been used: l =1 m and l =0.5 m, k=1,2,3; m1=10 kg, m2=8 kg, m3=6 kg; m 1=m 2=2 kg, m 3=1.5 kg, I =
k
Ck
R
R
R
k
(1/12)m l 2, k=1,2,3. It can be shown, by calculating the values of det(M(q)), that, for the above-mentioned values of parameters, det(M(q))>87.111 for all <
kk
, k=1,2,3.
In addition, =5 rad/s, =0.9, i=1,2,3, =5 rad/s, =0.9, i=1,2.

ni
di
di
A fourth-order RungeKutta algorithm was applied to solve the following two cases: the case of a trajectory tracking maneuver ((30), (31), (32), (33), (34) and (35)), and the case
of a point-to-point maneuver ( (42), (43), (44), (45) and (46)). A time step of =0.005 s was used throughout.
t
6.1. Example 1: trajectory following
In this example the end-effector is required to move around a circle with radius r0=1 m and centered at r =1.9I. The circular trajectory is specified by (see (21) and ( 22)): d2x (t)/
e
dt2=20r0 cos(0t),t
0, d2z (t)/dt2=20r0 sin(0t),t

r
0, x (0)=2.9 m, z (0)=0, dx (0)/dt=0, dz (0)/dt=0r0,0=1 rad/s. The time horizon is t =6.3 s.

r
The initial angles and angular velocities of the three-link manipulator are as follows: 1(0)=/6, 2(0)=0.0, 3(0)=/6, d (0)/dt=0.0, i=1,2,3. Using the definition of r
i
, and Eq.
EF
(5), we obtain that x
(0)=2.73025 m, z
EF
(0)=0.0 m, dx
EF
(0)/dt=dz
EF
(0)/dt=0.0.
EF
The tracking of the given circular trajectory has been achieved by the end-effector, and already at t=1 s,
m. Some of the results obtained are presented in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7.
Fig. 2. Example 1: plots of the values of com,1(t) (line 1), com,2(t) (line 2), com,3(t) (line 3), t
[0,t ].
f
Fig. 3. Example 1: plots of the values of 1(t) (line 1), 2(t) (line 2), 3(t) (line 3), t
[0,t ].
f
Fig. 4. Example 1: plot of the values of v
(t) (line 1), t
EF
[0,t ].
f
Fig. 5. Example 1: plots of the values of T1(t) (line 1), T2(t) (line 2), T3(t) (line 3), t
[0,t ].
f
Fig. 6. Example 1: plots of the values of z
(x
EF
) (line 1), z (x ) (line 2).
EF
Fig. 7. Example 1: plots of the manipulator links at time instants t=k , =0.3 s, k=0,1,,21. Note that the scale along the horizontal axis differs from the scale along the
d
vertical axis. This leads to a distortion in the length of the links in the figure.
6.2. Example 2: point-to-point maneuver
For the point-to-point maneuver, the initial angles and angular velocities of the three-link manipulator are as follows: 1(0)=1.5 rad, 2(0)=0.5 rad, 3(0)=0.9 rad, d (0)/
i
dt=0.0, i=1,2,3. Using the definition of r
, and Eq. (5), we obtain that x
EF
(0)=1.56993 m, z
EF
(0)=0.26526 m, dx
EF
(0)/dt=dz
EF
(0)/dt=0.0.
EF
In this example, the end-effector is required to move during the time interval [0,t ],t =4.5 s, from s(0)=Q1=[1.56993,0.26526,0,0] , to s(t )=Q2=[2.0,1.0,0,0] .
f
The specified point-to-point maneuver has been achieved by the end-effector, and some of the results obtained are presented in Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12 and Fig. 13.
Fig. 8. Example 2: plots of the values of com,1(t) (line 1), com,2(t) (line 2), com,3(t) (line 3), t
[0,t ].
f
Fig. 9. Example 2: plots of the values of 1(t) (line 1), 2(t) (line 2), 3(t) (line 3), t
[0,t ].
f
Fig. 10. Example 2: plot of the values of v
(t) (line 1), t
EF
[0,t ].
f
Fig. 11. Example 2: plots of the values of T1(t) (line 1), T2(t) (line 2), T3(t) (line 3), t
[0,t ].
f
Fig. 12. Example 2: plots of the values of z
(x
EF
) (line 1), z (x ) (line 2).
EF
Fig. 13. Example 2: plots of the manipulator links at time instants t=k , =0.3 s, k=0,1,,15. Note that the scale along the horizontal axis differs from the scale along the
d
vertical axis. This leads to a distortion in the length of the links in the figure.
7. Conclusion
A procedure has been proposed for deriving control laws for a three-link manipulator such that the end-effector performs trajectory tracking and point-to-point maneuvers.
The proposed procedure has proved to be simple and efficient, and can be applied to other systems as well.
References
1. E.T. Whittaker. A Treatise on the Analytical Dynamics of Particles and Rigid Bodies, Cambridge University Press, Cambridge, UK (1917).
2. A.E. Bryson and Y.C. Ho. Applied Optimal Control, Hemisphere Publishing Corporation, New York (1975).
3. B. Friedland. Control System Design, McGraw-Hill, New York (1987).
Corresponding author. Fax: +27-12-362-5000; email: yavin@e250.ee.up.za
Volume 190, Issues 40-41, 20 July 2001, Pages 5311-5324
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Inverse control of a three-link manipulator

C. Frangosa and Y. Yavin

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3. Inverse control law

Computer Methods in Applied Mechanics and Engineering

Control of a three-link manipulator with a constraint o...

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Fig. 1. The configuration of the three-link manipulator.

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initial state to a final state, is also considered.

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an iterative process as is usually needed in solving optimal control problems.

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i =cos( )I+sin( )K,

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j =sin( )I+cos( )K,

be a unit vector perpendicular to i , k=1,2,3, respectively. Note that

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is located at r2, r2=l1i1+l2i2.

http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6V29-43..._urlVersion=0&_userid=686465&md5=0c20078fb65e230ecd4820e7c6c39ef9 (22 of 100) [23/5/2008 11:36:14]

0<l <l , k=1,2,3. In addition, the location of the end-effector is given by r

http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6V29-43..._urlVersion=0&_userid=686465&md5=0c20078fb65e230ecd4820e7c6c39ef9 (23 of 100) [23/5/2008 11:36:14]

a11=m1l 12+I1+(m2+m 2+m3+m 3)l12,