kaveh moghadam - Amirkabir University of Technology
afshin mohammadi - Amirkabir University of Technology
fardin fakurian - Amirkabir University of Technology
keyvan mohammadi - Amirkabir University of Technology

Manipulators were proposed for long reach tasks which require speed and precision. Rigid M-m manipulators were studied by researchers of Stanford University. However, for long-reach tasks the flexibility of the M-part becomes significant. The challenge for controlling of this manipulator arise when the M-part of this manipulator become as a flexible link which the controlling approach face to an under-actuated problem. This kind of problems can not to be solved using inverse feedback linearization methods because of unknown dynamic of the manipulator. In this paper a new controlling method based on the singular perturbation algorithm has been developed.

Under-Actuated system, Macr-Micro Manipulators, Singular Perturbation controlling