Unified Control Strategy of 2-DOF Rotary Underactuated Manipulator
A trajectory planning and tracking control strategy based on basis function superposition and in-telligent optimization algorithm is proposed for the unified control problem of different types of 2-DOF rota-ry underactuated manipulator. Using coordinate transformation method and Lagrangian method to establish a general model of a 2-DOF rotary underactuated manipulator. Construct feasible motion trajectories of active joints in the system using superposition method based on cycloids,and optimize the feasible motion trajecto-ries using intelligent optimization algorithms. Design of tracking controller and calming controller to realize the tracking control of feasible motion trajectories and the oscillation stabilization of the system in special positions,respectively. Unified control of such systems is achieved by relying only on the second-order non-holonomic constraints prevalent in 2-DOF rotary underactuated manipulator. Finally,the effectiveness of the control strategy described was verified through simulation.
万方数据
维普
