Distributed Bearing-Based Control of Three-Link Planar Redundant Manipulators

Redundant manipulators find applications in var-ious tasks and possess more degrees of freedom (DOF) than are required to perform a particular task. Centralized control of such manipulators may result in high computational complexity due to high degrees of freedom. We propose a distributed control strategy for a redundant manipulator to control the manipulator's end-effector and to drive it to a desired goal point. We use only two angle measurements to design the control commands for every link, which has the added advantage of using cheaper sensors. We further analyze the local stability of our control law applied to a 3 -link planar manipulator, and validate the efficacy of our proposed strategy through several simulations.