Rolling manipulation control of the disk-on-disk on a two-link arm

In this paper, we design a feedback controller to stabilize the disk-on-disk system attached to a 2-link arm. The disk-on-disk consists of two disks in which the upper disk (object) is free to roll on top of the lower disk (hand) under the influence of gravity. In addition, the center of the hand is attached to the end point of the 2-link arm enabling the hand to move in translation as well as rotation. The proposed controller stabilizes the object disk on top of the hand at a target X-Y position in a vertical plane. The dynamic model of the system is derived and the dynamic feedback linearization method is used in the design of the controller. The performance of the controller is demonstrated through simulation results.