Control of three-link underactuated manipulators using a switching method of fuzzy energy regions

Keisuke Ichida; Kiyotaka Izumi; Keigo Watanabe; Nobuhiro Uchida

Control of three-link underactuated manipulators using a switching method of fuzzy energy regions

Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe, Nobuhiro Uchida

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 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

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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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 Robotics, AROB 12th'07. 2007. p. 764-767 (Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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. Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07, pp. 764-767, 12th International Symposium on Artificial Life and Robotics, AROB 12th'07, Oita, Japan, 1/25/07.

Ichida, Keisuke ; Izumi, Kiyotaka ; Watanabe, Keigo ; Uchida, Nobuhiro. / Control of three-link underactuated manipulators using a switching method of fuzzy energy regions. Proceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07. 2007. pp. 764-767 (Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07).

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