Task-Space Tracking Control of Robotic Manipulator Via Intermittent Controller

An intermittent controller for robotic manipulator in task space was developed in this paper. In task space, for given a desired time-varying trajectory, the robot end-effector can track the desired target under the designed intermittent controller. Different from most of the existing works on control of robotic manipulator, the intermittent control for robotic manipulator is discussed in task space instead of joint space. Besides, the desired trajectory can be time-varying and not limited to constant. As a direct application, the authors implemented the proposed controller on tracking of a two-link robotic manipulator in task space. Numerical simulations demonstrate the effectiveness and feasibility of the proposed intermittent control strategy.