Control of a three-link manipulator driven by three spinning disks

This work deals with the modelling and control of a planar three-link manipulator driven by three spinning disks. The motion of the manipulator+disks' system is described by six angles. The first three of them describing the motion of the manipulator, and the rest describing the motion of the spinning disks. A torque i is applied on Disk i, i = 1,2,3, respectively. Thus, the system is underactuated.