A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

被引：2
作者：
Huang, Zixin [1 ,2 ]
Li, Xinpeng [2 ]
Wei, Ziang [2 ]
Wan, Xiao [2 ]
Wang, Lejun [3 ,4 ]
机构：
[1] Nankai Univ, Coll Artificial Intelligence, Tianjin, Peoples R China
[2] Wuhan Inst Technol, Sch Elect & Informat Engn, Wuhan, Peoples R China
[3] Chongqing Univ Posts & Telecommun, Chongqing Key Lab Complex Syst & Bion Control, Chongqing, Peoples R China
[4] Chongqing Univ Posts & Telecommun, Chongqing Key Lab Complex Syst & Bion Control, Chongqing 400065, Peoples R China
来源：
MEASUREMENT & CONTROL | 2023年 / 56卷 / 9-10期
关键词：
Planar underactuated robot; motion planning; stable control; intelligent algorithm; CONTROL STRATEGY;
D O I：
10.1177/00202940231189306
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For the planar robot with underactuated constraints, a stable control method is presented on the foundation of motion planning method and intelligent optimization, which includes two stages. (1) Designing the controllers to control the actuated manipulators to given target states. (2) Planning the motion trajectory combined with the underactuated constraints between all links, using the intelligent algorithm to find the adaptable trajectory parameters, and tracking such planned trajectories to control full manipulators to the given states simultaneously. At last, multigroup simulations demonstrate the validity of the proposed method.
引用
收藏
页码：1826 / 1834
页数：9
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