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 |
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| Title of host publication | Proceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07 |
| Pages | 764-767 |
| Number of pages | 4 |
| Publication status | Published - Dec 1 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 |
Publication series
| Name | Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07 |
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Other
| Other | 12th International Symposium on Artificial Life and Robotics, AROB 12th'07 |
|---|---|
| Country | Japan |
| City | Oita |
| Period | 1/25/07 → 1/27/07 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
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Cite this
Ichida, K., Izumi, K., Watanabe, K., & Uchida, N. (2007). Control of three-link underactuated manipulators using a switching method of fuzzy energy regions. In Proceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07 (pp. 764-767). (Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07).