S. Ali A Moosavian - Advanced Robotics & Automated Systems (ARAS) Laboratory
Mahmood Mahmood Karimi - Department of Mechanical Engineering, K. N. Toosi University of Technology

The Modified Transpose Jacobian (MTJ) algorithm is a proposed algorithm used in manipulator control, based on an approximated feedback linearization approach, in which there is no need to a priori knowledge of the plant dynamics. In this paper, this scheme is extended to the complicated control problem of underactuated robots in Cartesian space based on the notion of Transpose Effective Jacobian as Modified Transpose Effective Jacobian (MTEJ) algorithm. This new control law eliminates dependency of controller to the dynamics model with reduced computational burden. Obtained results show an improved performance compared to that of the Transpose Effective Jacobian even in the presence of uncertainties and noises and much lower computations compared to those of model-based algorithms.

Underactuated robot; Path tracking; Transpose Jacobian algorithm; Non-model-based control