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

Abstract

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.

Comprehensive Stable Control Strategy for a Typical Underactuated Manipulator Considering Several Uncertainties

“…Underactuated systems are a crucial area of research in nonlinear control theory and robotics [1,2]. Underactuated systems have fewer independent inputs than degrees of freedom [3,4], such as balance bikes [5], flexible robots [6], crane systems [7], surface vessels [8], and quadcopter drones [9]. Underactuated systems can occur for a number of reasons:…”