Energy region design using projection for three-link underactuated manipulators

Keisuke Ichida; Kiyotaka Izumi; Keigo Watanabe

doi:10.1109/SICE.2007.4421386

Energy region design using projection for three-link underactuated manipulators

Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe

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

Abstract

We recently developed a fuzzy energy region method for the switching control of underactuated manipulators. The similar switching method is here applied for a three-link underactuated manipulator, and we investigate on the combination in 2D plane of energies defined for each link, i.e., the projection configuration of energies. The effectiveness of the present method is illustrated with some simulations.

Original language	English
Title of host publication	SICE Annual Conference, SICE 2007
Pages	2379-2384
Number of pages	6
DOIs	https://doi.org/10.1109/SICE.2007.4421386
Publication status	Published - Dec 1 2007
Externally published	Yes
Event	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan Duration: Sep 17 2007 → Sep 20 2007

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Country	Japan
City	Takamatsu
Period	9/17/07 → 9/20/07

Keywords

Computed torque switching control
Fuzzy switching method
Nonholonomic system
Nonlinear control
Underactuated manipulator

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/SICE.2007.4421386

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Cite this

Ichida, K., Izumi, K., & Watanabe, K. (2007). Energy region design using projection for three-link underactuated manipulators. In SICE Annual Conference, SICE 2007 (pp. 2379-2384). [4421386] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2007.4421386

Ichida, K, Izumi, K & Watanabe, K 2007, Energy region design using projection for three-link underactuated manipulators. in SICE Annual Conference, SICE 2007., 4421386, Proceedings of the SICE Annual Conference, pp. 2379-2384, SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007, Takamatsu, Japan, 9/17/07. https://doi.org/10.1109/SICE.2007.4421386

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keywords = "Computed torque switching control, Fuzzy switching method, Nonholonomic system, Nonlinear control, Underactuated manipulator",

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