Abstract:Position control of a 3-DOF horizontal underactuated robot is investigated.A new fuzzy control system based on hierarchical control idea is proposed for this kind of robot.The endpoint position control of this underactuated system can be regarded as the folding or unfolding motion of the passive joint and the rotation of active joint.The first joint follows the predefined trajectory,and then the second joint and the third joint achieve the position control based on the dynamic coupling of each other.The control torque or voltage of the second active joint are determined by the weighted sum of the output parameters of fuzzy control.Using this control method,the numerical simulation and experiment of 3R underactuated robot for the tip point-to-point(FTP) position control are implemented in operational space.
[1] Mahindrakar A D,Rao S,Banavar R N.Point-to-point control of a 2R planar horizontal underactuated manipulator[J].Mechanism and Machine Theory,2006,41(7):838-844.
[2] Manindrakar A D,Banavar R N,Reyhanoglu M.Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators[J].International Journal of Control,2005,78(1):1-13.
[3] Brockett R W.Asymptotic stability and feedback stabilization,differential geometric control theory[M]//Differential Geometric Control Theory.New York,USA:Birkaeuser,1983:181-191.
[4] Oriolo G,Nakamura Y.Control of mechanical systems with second-order nonholonomic constraints:Underactuated manipulators[C]//IEEE Conference on Decision and Control.Piscataway,NJ,USA:IEEE,1991:2398-2403.
[5] De Luca A,Iannitti S.A simple STLC test for mechanical systems underactuated by one control[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2002:1735-1740.
[6] Arai H,Tanie K,Shiroma N.Nonholonomic control of a three-DOF planar underactuated manipulator[J].IEEE Transactions on Robotics and Automation,1998,14(5):681-695.
[7] Bullo F.Nonlinear control of mechanical systems:A Riemannian geometry approach[D].California,USA:California Institute of Technology,1998.
[8] Yoshikawa T,Kobayashi K,Watanabe T.Design of a desirable trajectory and convergent control for 3-D.O.F manipulator with a nonholonomic constraint[C]//IEEE International Conference on Robotics and Automation.Piscataway,N J,USA:IEEE,2000:1805-1810.
[9] Martínez S,Cortés J,Bullo F.Motion planning and control problems for underaetuated robots[C]//2nd International Workshop on Control Problems in Robotics and Automation.Berlin,Germany:Springer-Verlag,2003:59-74.
[10] De Luca A,Oriolo G.Motion planning and trajectory control of an underactuated three-link robot via dynamic feedback linearization[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2000:2789-2795.
[11] De Luca A,Oriolo G.Motion planning under gravity for underactuated three-link robots[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2000:139-144.
[12] 滦南,明爱国,赵锡芳,等.欠驱动机器人的最优轨道生成与实现[J].上海交通大学学报,2002,36(10):1422-1425.Luan Nan,Ming Aiguo,Zhao Xifang,et al.Generation and realization of optimal trajectory for underactuated robot[J].Journal of Shanghai Jiaotong University,2002,36(10):1422-1425.
[13] Liu Q B,Yu Y Q,Su L Y.A new method for position control of planar 3-DOF underactuated robots[C]//7th World Congress on Intelligent Control and Automation.Piscataway,NJ,USA:IEEE,2008:9049-9054.
[14] 刘庆波,余跃庆.基于遗传算法的欠驱动机器人模糊控制器设计[J].系统仿真学报,2008,20(8):2097-2100.Liu Qingbo,Yu Yueqing.Fuzzy controller design for underactuated robots based on GA method[J].Journal of System Simulation,2008,20(8):2097-2100.