Development of Experiment Verification Environments using Real-Time Control for Three-Link Underactuated Manipulators

Underactuated manipulators have some passive joints in general, where the number of inputs is less than degrees freedom. These systems complex properties structure and they to control a lot generalized coordinates by few inputs. Here we use MATLAB/Simulink that software for numerical calculation. It designed controllers underactuated manipulators. In this paper, try constitute Real-Time environments. Then DC-motor using speed method position with tracking reference signals trapezoidal drive control. The effectiveness proposed illustrated through simulations experimentations.