Abstract
Underactuated manipulators have some passive joints in general, where the number of inputs is less than the degrees of freedom. These systems have complex properties in structure and they have to control a lot of generalized coordinates by few inputs. In this paper, we propose a switching control method for three-DOF underactuated manipulators. Then we convert a system of underactuated manipulator to one applied extend nonholonomic double integrator form. We try to control this system using switching control method. Here, we need to decide gain parameters using this controled method. Here, we need to decide gain parameters by a genetic algorithm (GA). The effectiveness of the proposed method is illustrated through simulations with a three-DOF underactuated manipulator.
Highlights
Manipulators used for industry and in academic laboratories have actuators to drive each joint
The switching method in reference controls to stabilize a system of nonholonomic integrator that have velocity dependent constraints
A control method about a system includes acceleration dependent constraints thinks as follows
Summary
Manipulators used for industry and in academic laboratories have actuators to drive each joint. A system of underactuated manipulator includes nonholonomic systems(1-3). This system can express affine system that have acceleration dependent constrains(4). There are an application of a logic based switching method with nonholonomic integrator, which has been proposed originally by Hespanha and Morse(14). This system is a switching method using switching plane which is composed of the combination of the squared errors of generalized coordinates. That in such a method, it is necessary to decide gain parameters of some stable controllers. We optimize these gain parameters by a genetic algorithm (GA)
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