This paper addresses the problem of end-effector formation control for a mixed group of two-link manipulators moving in a horizontal plane that comprises of fully-actuated manipulators and underactuated manipulators with only the second joint being actuated (referred to as the passive-active (PA) manipulators). The problem is solved by extending the distributed end-effector formation controller for the fully-actuated manipulator to the PA manipulator moving in a horizontal plane by using its integrability. This paper presents stability analysis of the closed-loop systems under a given necessary condition, and we prove that the manipulators' end-effector converge to the desired formation shape. The proposed method is validated by simulations.

翻译：本文研究了混合型二连杆机械臂组在水平面内运动时末端执行器的编队控制问题，该机械臂组包含完全驱动机械臂与仅第二关节被驱动的欠驱动机械臂（简称被动-主动（PA）机械臂）。通过利用可积性，将完全驱动机械臂的分布式末端执行器编队控制器推广至水平面运动的PA机械臂，从而解决了该问题。本文在给定必要条件下分析了闭环系统的稳定性，并证明机械臂末端执行器收敛至期望编队形状。仿真结果验证了所提方法的有效性。