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 - 2007/12/1
Y1 - 2007/12/1
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.
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M3 - Conference contribution
AN - SCOPUS:54849415847
SN - 9784990288013
T3 - Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07
SP - 764
EP - 767
BT - Proceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07
T2 - 12th International Symposium on Artificial Life and Robotics, AROB 12th'07
Y2 - 25 January 2007 through 27 January 2007
ER -