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© 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.

Abstract

In this paper, we propose a general control method via the intelligent algorithm for a planar R-type underactuated robot. This control method solves the unified control problem of R-type underactuated manipulator. Meanwhile, the proposed method is also applicable to cases of nonzero initial velocity and interference rejection. Our total control program includes two stages. In the first stage, we design the trajectory based on the states of the actuated link, and then the controller is designed to track the planned trajectory to realize the objective of the actuated link. In the second stage, the trajectory with adjustable parameters is planned for the actuated link. Then, the adjustable parameters are calculated by the intelligent algorithm based on the underactuated constraints. Subsequently, the controller is designed to track the second trajectory to realize the objective of the actuated manipulator and the underactuated manipulator. Finally, the performance of the proposed method is verified through simulations.

Details

Title
A General Stable Control Method for R-Type Underactuated Robot with Three Different Initial Situations
Author
Huang, Zixin 1 ; Hou, Mengyu 2 ; Hua, Yong 2 ; Yu, Chengsong 2 ; Wang, Lejun 3 

 Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University, Tianjin 300350, China; School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, China; Hubei Key Laboratory of Digital Textile Equipment, Wuhan Textile University, Wuhan 430200, China 
 School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, China 
 Chongqing Key Laboratory of Complex Systems and Bionic Control, Chongqing University of Posts and Telecommunications, Chongqing 400065, China 
First page
5565
Publication year
2023
Publication date
2023
Publisher
MDPI AG
e-ISSN
20763417
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
2812397623
Copyright
© 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.