A general control strategy for planar 3-DoF underactuated manipulators with one passive joint

Huang, Zixin; Lai, Xuzhi; Zhang, Pan; Meng, Qingxin

doi:10.1016/j.ins.2020.05.002

Cited by 29 publications

(7 citation statements)

References 19 publications

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“…The motion regions of the terminal points are all equilibrium points. 25 However, the linear approximation processing model in these points is not controllable. 26 Therefore, the study approaches of the traditional nonlinear systems may not be adapt for the special underactuated systems.…”

Section: Introductionmentioning

confidence: 99%

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

Huang,

Li,

Wei

et al. 2023

Measurement and Control

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For the planar robot with underactuated constraints, a stable control method is presented on the foundation of motion planning method and intelligent optimization, which includes two stages. (1) Designing the controllers to control the actuated manipulators to given target states. (2) Planning the motion trajectory combined with the underactuated constraints between all links, using the intelligent algorithm to find the adaptable trajectory parameters, and tracking such planned trajectories to control full manipulators to the given states simultaneously. At last, multigroup simulations demonstrate the validity of the proposed method.

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Section: Introductionmentioning

confidence: 99%

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

Huang,

Li,

Wei

et al. 2023

Measurement and Control

Self Cite

View full text Add to dashboard Cite

show abstract

“…The designed quintic interpolating spline auxiliary input could effectively shorten the stability control time, but it required a lot of calculation to solve unknown parameters, and the uncertainty of symbol attribute also brought difficulties to the design. The planar underactuated robot was usually designed with multiple links to meet the needs of complex tasks [24], [25], [26]. Ref.…”

Section: Introductionmentioning

confidence: 99%

Iterative Contraction Stability Control Strategy for Planar Prismatic-Rotational Underactuated Robot

et al. 2023

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An iterative contraction stability control strategy is proposed to solve the end point position control problem of the planar prismatic-rotational (PR) underactuated robot. We establish the dynamic model of the planar PR underactuated robot, and use the algebra method to derive the nilpotent approximation model (NAM) with similar characteristics to the original system. According to the robot structure and control objectives, we propose a two-stage control idea: 1) Design a sliding mode variable structure controller to ensure that the active link can back to the target position after subsequent iterative operations; 2) Design an open-loop iterative control strategy based on the previous NAM to control the active link for iterative operation. The underactuated link is indirectly controlled and stabilized at any different accessible position under the action of the coupling relationship between links by controlling the active link. Finally, the simulation results prove that the end point of the robot can be effectively controlled to any positions.

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“…For the planar AAP robot, the position control of its first active link is realized firstly, and then the fuzzy control method is used to realize the stability of other links. 22 Huang et al 23 propose an unified method for the planar three-link robot. Consider the underactuated states and constraints, he designs trajectory for active link that can be optimized by intelligent algorithm and uses the designed tracking controller to realize the control objectives.…”

Section: Introductionmentioning

confidence: 99%

Finite-time control strategy for swarm planar underactuated robots via motion planning and intelligent algorithm

Huang

Wei

Hou

et al. 2022

Measurement and Control

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The swarm planar underactuated robots have the ability to organize each robot to complete task in a finite time and the characteristics of ignoring gravity, energy saving, light weight, and so on. In this paper, we propose control strategy for such robot via motion planning and intelligent algorithm. First, we establish a unified dynamic model and analysis its underactuated characteristics. In order to enable all links to reach the target position smoothly in a finite time, a suitable trajectory is planned and parameters are optimized by the differential evolution algorithm (DEA). Then, the controllers are designed for each planar underactuated robot. Finally, the simulation results show that the proposed strategy is effective.

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A general control strategy for planar 3-DoF underactuated manipulators with one passive joint

Cited by 29 publications

References 19 publications

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

Iterative Contraction Stability Control Strategy for Planar Prismatic-Rotational Underactuated Robot

Finite-time control strategy for swarm planar underactuated robots via motion planning and intelligent algorithm

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