Motion Control of an Underactuated 2-DOF Robotic Manipulator

Somer M. Nacy, Shahad T. Ibraheem


This paper deals with the motion control of the end effector of a 2-DOF linkage type underactuated robotic manipulator. A simulation procedure is implemented for the motion control in which actuation and braking actions were applied on the two joints of the manipulator subsequently,  hence moving the end effector in a point to point manner through the desired path. From the results obtained, it was found that the percentage error in trajectory mainly does not exceed (1%). In some specific points on the trajectory, error reached its maximum value which was found to be (3.64%). In general, these error values are almost acceptable, although an effort will be achieved in future work to reduce this error and improve the design.

Keywords: Underactuated Manipulators, Motion Control, Simulation.

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ISSN (Paper)2224-5774 ISSN (Online)2225-0492

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