A General Stable Control Method for R-Type Underactuated Robot with Three Different Initial Situations
نویسندگان
چکیده
In this paper, we propose a general control method via the intelligent algorithm for planar R-type underactuated robot. This solves unified problem of manipulator. Meanwhile, proposed is also applicable to cases nonzero initial velocity and interference rejection. Our total program includes two stages. first stage, design trajectory based on states actuated link, then controller designed track planned realize objective link. second with adjustable parameters Then, are calculated by constraints. Subsequently, manipulator Finally, performance verified through simulations.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2023
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13095565