Oscillation Trajectory Optimization and Control Method for Two-Link Underactuated Manipulators

This paper provides an oscillation trajectory optimization and control method for two-link underactuated manipulators (UMs) in a vertical plane. The proposed method solves the problem that the UMs cannot always enter the balance region in the partitioning method. First, we establish the system dynamic model, and analyze the system couple characteristics. Then, we program an oscillation trajectory for the active link, and use the intelligent method to obtain the trajectory parameters, so ensuring the system can reach the area adjacent to the target position through tracking control. Next, we design the controller to realize the stable control at the target position. Finally, the simulation results show the effectiveness and generality of the control strategy.