Control of three-link underactuated manipulators using a switching method of fuzzy energy regions |
| |
Authors: | Keisuke Ichida Kiyotaka Izumi Keigo Watanabe Nobuhiro Uchida |
| |
Affiliation: | (1) Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1 Honjomachi, Saga 840-8502, Japan |
| |
Abstract: | In general, manipulators used for industry and in academic laboratories have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it is necessary to design parameters related to energy regions and the gains of some partly stable controllers based on the computed torque method. Here, the switching method is applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007 |
| |
Keywords: | Fuzzy switching method Computed torque switching control Underactuated manipulator Nonholonomic system Nonlinear control |
本文献已被 SpringerLink 等数据库收录! |
|