Obstacle Avoidance of Three-DOF Underactuated Manipulator by Using Switching Computed Torque Method

Obstacle avoidance of underactuated robot manipulators using switching computed torque method (SCTM) is presented. One fundamental feature of this novel method is to use partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Here, we use genetic algorithms (GAs) to acquire the optimum switching sequence of the control actions for a given time frame with the available set of elemental controllers, depending on which links/variables are controlled. The effectiveness of the concept is illustrated by taking a three-degrees-of-freedom (DOF) manipulator and showing enhanced performance of the proposed control methodology.

[1]  Mignon Park,et al.  Robust Fuzzy Feedback Linearization Control Based on Takagi-Sugeno Fuzzy Models , 2002 .

[2]  Ronald S. Fearing,et al.  Tracking fast inverted trajectories of the underactuated Acrobot , 1999, IEEE Trans. Robotics Autom..

[3]  Jing-Sin Liu,et al.  Estimate of minimum distance between convex polyhedra based on enclosed ellipsoids , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[4]  Arjan van der Schaft,et al.  Dynamics and control of a class of underactuated mechanical systems , 1999, IEEE Trans. Autom. Control..

[5]  Jun-ichi Imura,et al.  Nonholonomic Contorol of 3-D.O.F. Manipulator with a Free Joint , 1997 .

[6]  Kiyotaka Izumi,et al.  Energy Optimization of Switching Torque Computed Method for Underactuated Manipulators , 2001 .

[7]  Weiliang Xu,et al.  Stabilization of second-order nonholonomic systems in canonical chained form , 2001, Robotics Auton. Syst..

[8]  G. Muscato.  Fuzzy control of an underactuated robot with a fuzzy microcontroller , 1999, Microprocess. Microsystems.

[9]  Ilya Kolmanovsky,et al.  Developments in nonholonomic control problems , 1995 .

[10]  Kiyotaka Izumi,et al.  Fuzzy-chaos hybrid controller for controlling of nonlinear systems , 2002, IEEE Trans. Fuzzy Syst..

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

[12]  Yangsheng Xu,et al.  Optimal control sequence for underactuated manipulators , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[13]  Kiyotaka Izumi,et al.  Obstacle Avoidance of Underactuated Rob ot Manipulators Using Switching Computed Torque Method , 2001 .

[14]  Kiyotaka Izumi,et al.  Control of Chaotic Systems using Fuzzy Model-Based Regulators , 1999, RSFDGrC.

[15]  Giuseppe Oriolo,et al.  Stabilization of a PR planar underactuated robot , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

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

[17]  Naomi Ehrich Leonard,et al.  Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups , 2000, IEEE Trans. Autom. Control..

[18]  Naoji Shiroma,et al.  Motion Planning for a Three-Axis Planar Manipulator with a Passive Revolute Joint , 2000 .

[19]  Tsutomu Mita,et al.  Control of underactuated manipulators using variable period deadbeat control , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[20]  Hyun Myung,et al.  Evolutionary programming techniques for constrained optimization problems , 1997, IEEE Trans. Evol. Comput..