Control of three-link underactuated manipulators by a logic-based switching method

Keisuke Ichida, Keigo Watanabe, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Control of underactuated manipulators is an attractive research theme in robotics. One of the reasons is that they become a complex system, so that they cannot be controlled by normal any control methods. These systems also include the properties of nonholonomic systems. One of control methods used for underactuated manipulators is known as a switching control, which selects a stable controller out of ones prepared in advance by using a switching rule. In this paper, we propose a switching control method for three-DOF underactuated manipulators. The dynamical model of an underactuated manipulator consisting of two prismatic joints and one revolute joint is first transformed into an extended nonholonomic double integrator form. Such a system can be controlled by applying the conventional logic-based control method developed in the case of velocity constraint, after slightly extending it to the present case. The effectiveness of the proposed method is illustrated through simulations with a three-DOF underactuated manipulator.

Original languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages108-112
Number of pages5
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan
Duration: Mar 26 2009Mar 29 2009

Other

Other2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
CountryJapan
CityOkayama
Period3/26/093/29/09

Fingerprint

Manipulators
Large scale systems
Robotics
Controllers

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

Cite this

Ichida, K., Watanabe, K., & Izumi, K. (2009). Control of three-link underactuated manipulators by a logic-based switching method. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 (pp. 108-112). [4919255] https://doi.org/10.1109/ICNSC.2009.4919255

Control of three-link underactuated manipulators by a logic-based switching method. / Ichida, Keisuke; Watanabe, Keigo; Izumi, Kiyotaka.

Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 108-112 4919255.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ichida, K, Watanabe, K & Izumi, K 2009, Control of three-link underactuated manipulators by a logic-based switching method. in Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009., 4919255, pp. 108-112, 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009, Okayama, Japan, 3/26/09. https://doi.org/10.1109/ICNSC.2009.4919255
Ichida K, Watanabe K, Izumi K. Control of three-link underactuated manipulators by a logic-based switching method. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 108-112. 4919255 https://doi.org/10.1109/ICNSC.2009.4919255
Ichida, Keisuke ; Watanabe, Keigo ; Izumi, Kiyotaka. / Control of three-link underactuated manipulators by a logic-based switching method. Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. pp. 108-112
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