Soumya S.Guruprasad K.R.2021-05-052021-05-052021International Journal of Control, Automation and Systems Vol. 19 , 2 , p. 850 - 863https://doi.org/10.1007/s12555-020-0031-7https://idr.nitk.ac.in/handle/123456789/15647In this paper, we propose a novel distributed control scheme for a planar serial-link manipulator with revolute joints. The control scheme is based on the conventional model-based nonlinear control scheme that achieves linearization by feedback. A dedicated controller controls each joint of the manipulator, as in the case of the decentralized manipulator control scheme. However, in the proposed control scheme, the joint-level controllers communicate and cooperate to account for the nonlinear dynamic coupling between the links. The proposed control scheme can achieve the performance level of that of the model-based nonlinear control scheme, and at the same time, reduce the computational lead-time by distributing the computational load associated with the control law among the joint-level controllers. We design a distributed cooperative control law for a three-link planar manipulator and demonstrate its trajectory tracking performance using simulation experiments. © 2020, ICROS, KIEE and Springer.Article