Design Parameter Setting by GA with Switching Method for Three-DOF Underactuated Manipulators

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 tree-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 switching control method. And we optimaze such gain parameters by a genetic algorithm (GA). The effectiveness of the propose method is illustrated through simulations with a tree-DOF under actuated manipulator.