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 proceedingConference contribution

2 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07
Pages764-767
Number of pages4
Publication statusPublished - Dec 1 2007
Externally publishedYes
Event12th International Symposium on Artificial Life and Robotics, AROB 12th'07 - Oita, Japan
Duration: Jan 25 2007Jan 27 2007

Publication series

NameProceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07

Other

Other12th International Symposium on Artificial Life and Robotics, AROB 12th'07
CountryJapan
CityOita
Period1/25/071/27/07

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).