The paper deals with the modeling and control of a two-link planar robotic manipulator that partially resembles a human arm.
The simplicity and ease of computation of the control algorithm are particularly highlighted in the study. The arm is subjected to a tremor excitation at a specific location on the arm while
performing a predefined task in space, taking into account the
flexibility of the ‘muscle’ that are mathematically modeled. A feedback control system is applied using an active force control strategy (AFC) in order to suppress the introduced disturbance so that the arm remains invariant or robust to the applied force. A number of loading and operating conditions were also simulated and tested to establish the system behaviors. Results clearly suggest the effectiveness of the proposed method in countering various forms of conditions as the control mechanism renders the arm accurate and robust I performing the desired task.