Volume 33 Issue 03
Mar.  2007
Turn off MathJax
Article Contents
Liu Shengping, Wu Licheng, Lu Zhenet al. Trajectory tracking control of three-DOF planar under-actuated manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(03): 307-310. (in Chinese)
Citation: Liu Shengping, Wu Licheng, Lu Zhenet al. Trajectory tracking control of three-DOF planar under-actuated manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(03): 307-310. (in Chinese)

Trajectory tracking control of three-DOF planar under-actuated manipulator

  • Received Date: 20 Apr 2006
  • Publish Date: 31 Mar 2007
  • The trajectory tracking control of a three-link planar under-actuated manipulator was presented. The third joint of the manipulator was passive. The dynamic constraint on the free link was shown to be second-order nonholonomic. Motion equations of the system were transformed into high order chained form using some global coordinate and input changes. A time-varying feedback controller was proposed to force the under-actuated manipulator to globally asymptotically track a reference trajectory. The control development was based on the current popular integrator backstepping technique. The method breaks down nonlinear system into low dimensional systems and simplifies the controller design using virtual control inputs and partial Lyapunov functions. Simulation results show the system can stably converge to a desired trajectory and demonstrate the effectiveness of the proposed control law.

     

  • loading
  • [1] Arai H, Tachi S. Position control of a manipulator with passive joints using dynamic coupling[J]. Trans on Robotics and Automation,1991,7(4):528-534 [2] Luca A D, Mattone R, Oriolo G. Stabilization of an underactuated planar 2R manipulator[J]. International Journal of Robust and Nonlinear Control,2000,10(4):181-198 [3] De Luca A, Iannitti S, Oriolo G. Stabilization of a PR planar underactuated robot Proc IEEE Int Conf Rob Autom. Seoul:IEEE,2001,2:2090-2095 [4] Arai H, Tanie K, Shiroma N. Nonholonomic control of a three-dof planar underactuated manipulator[J]. IEEE Trans on Robotics and Automation,1998,14(5):681-695 [5] Imura J, Kobayashi K, Yoshikawa T. Nonholonomic control of 3 link planar manipulator with a free joint Proc IEEE Conf Decis Control. Kobe:IEEE,1996,2:1435-1436 [6] Mahindrakar A D, Banavar R N, Reyhanoglu M. Discontinuous feedback control of a 3 link planar PPR underactuated manipulator Proc IEEE Conf Decis Control.Orlando:IEEE,2001,3:2424-2429 [7] 马保离.一类二阶非完整系统的镇定[J].控制理论与应用,2003,20(4):565-568 Ma Baoli. Stabilization of a class of second-order nonholonomic systems[J].Control Theory & Applications,2003,20(4):565-568(in Chinese) [8] 高丙团,陈宏钧,张晓华.一类欠驱动机械系统的非线性控制[J].控制与决策,2006,21(1):104-110 Gao Bingtuan,Chen Hongjun, Zhang Xiaohua. Nonlinear control for a class of underactuated mechanical systems[J].Control and Decision,2006,21(1):104-110(in Chinese)
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(3980) PDF downloads(1019) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return