A General Stable Control Method for R-Type Underactuated Robot with Three Different Initial Situations

摘要

In this paper, we propose a general control method via the intelligent algorithm for a planar R-type underactuated robot. This control method solves the unified control problem of R-type underactuated manipulator. Meanwhile, the proposed method is also applicable to cases of nonzero initial velocity and interference rejection. Our total control program includes two stages. In the first stage, we design the trajectory based on the states of the actuated link, and then the controller is designed to track the planned trajectory to realize the objective of the actuated link. In the second stage, the trajectory with adjustable parameters is planned for the actuated link. Then, the adjustable parameters are calculated by the intelligent algorithm based on the underactuated constraints. Subsequently, the controller is designed to track the second trajectory to realize the objective of the actuated manipulator and the underactuated manipulator. Finally, the performance of the proposed method is verified through simulations.