Abstract
This paper presents a position control strategy based on energy attenuation for a planar three-link active-passive-active (APA) underactuated manipulator in horizontal plane. The control objective is to move the end effector from any initial position to any desired position. First, the target angle of the first link is obtained by using the geometric constraint relationship of the system. Next, the target angles of the second and third links are calculated by applying the particle swarm optimization (PSO) algorithm based on the holonomic characteristics of a planar acrobot. The control process is divided into two stages to move the first active link and the third active link to the target angles respectively, and the passive second link is adjusted to the desired angle. The controllers designed based on energy attenuation ensure the energy attenuates to zero in each stage, and the system stabilizes at the desired position. Finally, simulation results demonstrate the validity of the proposed control approach.
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