Iterative Contraction Stability Control Strategy for Planar Prismatic-Rotational Underactuated Robot

An iterative contraction stability control strategy is proposed to solve the end point position problem of planar prismatic-rotational (PR) underactuated robot. We establish dynamic model PR robot, and use algebra method derive nilpotent approximation (NAM) with similar characteristics original system. According robot structure objectives, we propose a two-stage idea: 1) Design sliding mode variable controller ensure that active link can back target after subsequent operations; 2) an open-loop based on previous NAM for operation. The indirectly controlled stabilized at any different accessible under action coupling relationship between links by controlling link. Finally, simulation results prove be effectively positions.