This paper addresses the problem of end-effector formation control for a mixed group of two-link manipulators moving in a horizontal plane that comprises of fully-actuated manipulators and underactuated manipulators with only the second joint being actuated (referred to as the passive-active (PA) manipulators). The problem is solved by extending the distributed end-effector formation controller for the fully-actuated manipulator to the PA manipulator moving in a horizontal plane by using its integrability. This paper presents stability analysis of the closed-loop systems under a given necessary condition, and we prove that the manipulators' end-effector converge to the desired formation shape. The proposed method is validated by simulations.
@article{arxiv.2309.07968,
title = {Distributed formation control of end-effector of mixed planar fully- and under-actuated manipulators},
author = {Zhiyu Peng and Bayu Jayawardhana and Xin Xin},
journal= {arXiv preprint arXiv:2309.07968},
year = {2023}
}