Energy region design using projection for three-link underactuated manipulators

We recently developed a fuzzy energy region method for the switching control of underactuated manipulators. The similar switching method is here applied for a three-link underactuated manipulator, and we investigate on the combination in 2D plane of energies defined for each link, i.e., the projection configuration of energies. The effectiveness of the present method is illustrated with some simulations.

[1]  Naoji Shiroma,et al.  Nonholonomic control of a three-DOF planar underactuated manipulator , 1998, IEEE Trans. Robotics Autom..

[2]  Mitsuji Sampei,et al.  Arbitrary path tracking control of articulated vehicles using nonlinear control theory , 1995, IEEE Trans. Control. Syst. Technol..

[3]  Yoshihiko Nakamura,et al.  Nonlinear behavior and control of a nonholonomic free-joint manipulator , 1997, IEEE Trans. Robotics Autom..

[4]  Keigo Kobayashi,et al.  Design of a desirable trajectory and convergent control for 3-DOF manipulator with a nonholonomic constraint , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[5]  Rogelio Lozano,et al.  Energy based control of the Pendubot , 2000, IEEE Trans. Autom. Control..

[6]  Giuseppe Oriolo,et al.  Control of mechanical systems with second-order nonholonomic constraints: underactuated manipulators , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[7]  João Pedro Hespanha,et al.  Stabilization of nonholonomic integrators via logic-based switching , 1999, Autom..

[8]  Keigo Watanabe,et al.  Control of underactuated robot manipulators using switching computed torque method: GA based approach , 2003, Soft Comput..

[9]  Keigo Kobayashi,et al.  Design of a Desirable Trajectory and Convergent Control for 3-D.O.F Manipulator with a Nonholonomic Constraint , 2000 .

[10]  Keigo Watanabe,et al.  Switching rules based on fuzzy energy regions for a switching control of underactuated robot systems , 2005 .