Energy region design using projection for three-link underactuated manipulators

Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages2379-2384
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: Sep 17 2007Sep 20 2007

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CountryJapan
CityTakamatsu
Period9/17/079/20/07

Fingerprint

Manipulators

Keywords

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

ASJC Scopus subject areas

  • Engineering(all)

Cite this

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

Energy region design using projection for three-link underactuated manipulators. / Ichida, Keisuke; Izumi, Kiyotaka; Watanabe, Keigo.

Proceedings of the SICE Annual Conference. 2007. p. 2379-2384 4421386.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ichida, K, Izumi, K & Watanabe, K 2007, Energy region design using projection for three-link underactuated manipulators. in Proceedings of the SICE Annual Conference., 4421386, 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
Ichida K, Izumi K, Watanabe K. Energy region design using projection for three-link underactuated manipulators. In Proceedings of the SICE Annual Conference. 2007. p. 2379-2384. 4421386 https://doi.org/10.1109/SICE.2007.4421386
Ichida, Keisuke ; Izumi, Kiyotaka ; Watanabe, Keigo. / Energy region design using projection for three-link underactuated manipulators. Proceedings of the SICE Annual Conference. 2007. pp. 2379-2384
@inproceedings{d6ea40599a7f4b1787fbae0461e7613f,
title = "Energy region design using projection for three-link underactuated manipulators",
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.",
keywords = "Computed torque switching control, Fuzzy switching method, Nonholonomic system, Nonlinear control, Underactuated manipulator",
author = "Keisuke Ichida and Kiyotaka Izumi and Keigo Watanabe",
year = "2007",
doi = "10.1109/SICE.2007.4421386",
language = "English",
isbn = "4907764286",
pages = "2379--2384",
booktitle = "Proceedings of the SICE Annual Conference",

}

TY - GEN

T1 - Energy region design using projection for three-link underactuated manipulators

AU - Ichida, Keisuke

AU - Izumi, Kiyotaka

AU - Watanabe, Keigo

PY - 2007

Y1 - 2007

N2 - 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.

AB - 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.

KW - Computed torque switching control

KW - Fuzzy switching method

KW - Nonholonomic system

KW - Nonlinear control

KW - Underactuated manipulator

UR - http://www.scopus.com/inward/record.url?scp=50249154907&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=50249154907&partnerID=8YFLogxK

U2 - 10.1109/SICE.2007.4421386

DO - 10.1109/SICE.2007.4421386

M3 - Conference contribution

AN - SCOPUS:50249154907

SN - 4907764286

SN - 9784907764289

SP - 2379

EP - 2384

BT - Proceedings of the SICE Annual Conference

ER -