Finite-time control of a compliant base robot manipulator

Abstract

The control design of a two-link robotic manipulator with a translationally compliant base is investigated. The equations of motion are derived using a Lagrangian formulation. A notch-filtered finite-time control law is designed to avoid natural frequency excitation via the control input. The control algorithm's performance is then observed through simulation, aiming to demonstrate effectiveness on a benchmark robotic manipulator system.