Position control for planar four-link underactuated manipulator with a passive third joint

作     者：Liu, Dong Lai, Xuzhi Wang, Yawu Wan, Xiongbo Wu, Min 

作者机构：China Univ Geosci Sch Automat Wuhan 430074 Hubei Peoples R China Hubei Key Lab Adv Control & Intelligent Automat C Wuhan 430074 Hubei Peoples R China 

出 版 物：《ISA TRANSACTIONS》 (美国仪表、系统和自动控制协会会刊)

年 卷 期：2019年第87卷

页      面：46-54页

核心收录：

学科分类：08[工学] 080401[工学-精密仪器及机械] 0804[工学-仪器科学与技术] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：National Natural Science Foundation of China [61374106, 61773353] Hubei Provincial Natural Science Foundation of China [2015CFA010] 111 project [B17040] 

主　　题：Planar underactuated manipulator Nonholonomic system Position control Model reduction Differential evolution algorithm 

摘      要：This paper presents a position control strategy based on the differential evolution (DE) algorithm for a planar four-link underactuated manipulator (PFUM) with a passive third joint, which is to move its end-point from any initial position to any target position. Based on the structural characteristic of the PFUM, a model reduction method is conceived to reduce the PFUM to a planar virtual three-link manipulator and a planar Acrobot in turn. Considering the existence of the angle constraint in the planar Acrobot, the DE algorithm is used to optimize and coordinate the control objective of each reduced system, and also to ensure the target angles of the planar Acrobot corresponding to the target position of the PFUM can be found. Simulations demonstrate the validity of the proposed control strategy. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.