Design of a Desirable Trajectory and Convergent Control for 3-D.O.F. Manipulator with a Nonholonomic Constraint

This paper is concerned with control of a 3 link planar underactuated manipulator that is known as a second order nonholonomic system. Since we have already proposed a control law that ensures convergence of its state to a desirable trajectory and to any desired final point, we propose a method of design of a desirable trajectory that starts from any given initial point, and then passes any given desired passing point, and finally converges at any given desired final point.