Abstract
In general, manipulators used for industry and academic laboratory have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it needs to design parameters related to energy regions and gains of some partly stable controllers based on the computed torque method. The switching method is here applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07 |
| Pages | 764-767 |
| Number of pages | 4 |
| Publication status | Published - 2007 |
| Externally published | Yes |
| Event | 12th International Symposium on Artificial Life and Robotics, AROB 12th'07 - Oita, Japan Duration: Jan 25 2007 → Jan 27 2007 |
Other
| Other | 12th International Symposium on Artificial Life and Robotics, AROB 12th'07 |
|---|---|
| Country | Japan |
| City | Oita |
| Period | 1/25/07 → 1/27/07 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
Cite this
Control of three-link underactuated manipulators using a switching method of fuzzy energy regions. / Ichida, Keisuke; Izumi, Kiyotaka; Watanabe, Keigo; Uchida, Nobuhiro.
Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07. 2007. p. 764-767.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Control of three-link underactuated manipulators using a switching method of fuzzy energy regions
AU - Ichida, Keisuke
AU - Izumi, Kiyotaka
AU - Watanabe, Keigo
AU - Uchida, Nobuhiro
PY - 2007
Y1 - 2007
N2 - In general, manipulators used for industry and academic laboratory have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it needs to design parameters related to energy regions and gains of some partly stable controllers based on the computed torque method. The switching method is here applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations.
AB - In general, manipulators used for industry and academic laboratory have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it needs to design parameters related to energy regions and gains of some partly stable controllers based on the computed torque method. The switching method is here applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations.
UR - http://www.scopus.com/inward/record.url?scp=54849415847&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=54849415847&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:54849415847
SN - 9784990288013
SP - 764
EP - 767
BT - Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07
ER -