Continuous Control Strategy of Planar 3-Linkage Underactuated Manipulator Based on Broad Neural Network

被引：4

作者：

Chen, Siyu ^{[1
,2
]}

Wang, Yawu ^{[1
,2
,3
]}

Zhang, Pan ^{[1
,2
,3
]}

Su, Chun-Yi ^{[3
]}

机构：

[1] China Univ Geosci, Sch Automat, Wuhan 430074, Peoples R China

[2] Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Peoples R China

[3] Concordia Univ, Dept Mech Ind & Aerosp Engn MIAE, Montreal, PQ H3G 1M8, Canada

来源：

ACTUATORS | 2021年 / 10卷 / 10期

基金：

中国国家自然科学基金;

关键词：

planar underactuated manipulator; continuous control; broad neural network; motion coupling relationship; PARTICLE SWARM OPTIMIZATION; DATA-DRIVEN METHOD; LEARNING-SYSTEM; ALGORITHM; REGRESSION; MODEL;

D O I：

10.3390/act10100249

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

For the position control of a planar 3-linkage underactuated manipulator (PTUM) with a passive first linkage, a continuous control strategy is developed in this paper. In particular, a broad neural network (BNN)-based model is first established to accurately describe the motion coupling relationship between the passive linkage and the second linkage. Based on this model, by using the particle swarm optimization algorithm, the target angles of all linkages are calculated combining the start states of all linkages and the target position of the PTUM. Then, the target angles of the active linkages are directly achieved by their respective actuators, and that of the passive linkage is also achieved by the rotation of the second linkage. By carrying out several experiments, the effectiveness of the above strategy is verified.</p>

引用

页数：11

共 34 条

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