On the Motion Control of a Five-Link Manipulator

The motion control problem of a five-link robot manipulator with four cylindrical and one prismatic joints is considered. The base link of the manipulator is vertical. Such a manipulator can have steady motions in which its base link rotates at a constant angular velocity while the remaining links maintain relative constant positions. The stabilization problem of such a motion is considered by means of non-linear PD and PI controllers. A numerical analysis of the stabilization process is presented by use a non-linear PI controller.