Abstract
AbstractIn this chapter, we present the control methods for the multi-link planar underactuated manipulator (PUM) with one passive joint. Firstly, we present a continuous control strategy based on the differential evolution algorithm for the system with passive first joint to quickly realize its position-posture control objective. The angular velocity constraint of the system is used to obtain the coupling equation in integral form between the angle of the passive joint and the states of the active joints. The step PD controllers are used to overcome the sudden change of the initial torques. The differential evolution algorithm is used to optimize the target angles of all joints and the design parameters of the step PD controllers corresponding to the target position-posture. Secondly, we present a unified trajectory planning and tracking control strategy for the multi-link PUMs with a passive joint at a different location. In addition, we employ intelligent optimization algorithm to optimize the parameters of the trajectories. The effectiveness of such strategies is demonstrated through simulation results.KeywordsMulti-link planar underactuated manipulatorContinuous controlPosition and posture controlTrajectory planningTracking controlIntelligent optimization algorithm
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
