Control of underactuated manipulators with uncertain static friction

In this paper the control of 2R underactuated planar manipulator with uncertain static friction is considered. The control process is divided into two phases. In the first phase, terminal sliding mode control is used to stabilize the passive joint to the desired position in finite time; during this phase the motion of the active joint is regarded as mechanical disturbance. In the second phase, the dynamic equation of the active joint becomes a linear equation with a limited control input and a parameter containing the uncertain static friction of the passive joint. A two-dimension fuzzy controller, the domain of which is dynamically adjusted, is applied to stabilize the active joint to the desired position, while the passive joint remains at its desired position all the time. The simulation results indicate that the control scheme proposed in this paper is valid.

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

[2]  Hikaru Inooka,et al.  Position control of an underactuated manipulator using joint friction , 1998 .

[3]  Kazuo Kiguchi,et al.  Fuzzy rules extraction by GA for controlling 2-DOF underactuated planar manipulators: switching computed torque approach , 2002, Proceedings of the 41st SICE Annual Conference. SICE 2002..

[4]  Degang Chen,et al.  Control of free-flying underactuated space manipulators to equilibrium manifolds , 1993, IEEE Trans. Robotics Autom..

[5]  Dominique Bonvin,et al.  Analysis of exclusively kinetic two-link underactuated mechanical systems , 2002, Autom..

[6]  Giuseppe Oriolo,et al.  Free-joint manipulators: motion control under second-order nonholonomic constraints , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[7]  Zhihong Man,et al.  Continuous finite-time control for robotic manipulators with terminal sliding mode , 2003, Autom..

[8]  Y. Nakamura,et al.  Control of 2R underactuated manipulator with friction , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[9]  Kiyotaka Izumi,et al.  Control of three degrees-of-freedom underactuated manipulator using fuzzy based switching , 2004, Artificial Life and Robotics.

[10]  Hikaru Inooka,et al.  Dynamics and motion control of a two-link robot manipulator with a passive joint , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[11]  Kiyotaka Izumi,et al.  Fuzzy Switching Control of Underactuated Manipulators with Approximated Switching Regions , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.