Trajectory Tracking of Underactuated Manipulator Using Fuzzy Method

摘要

Control of Underactuate manipulator is a challenge. A fuzzy control method is presented to control a three DOFs underactuated manipulator with the last joint passive. Using the redundancy DOF, the base joint was assigned a motion plan. The second active joint is planed and controlled to compose the base joint dynamics to drive the last passive joint moving. So, the motion error of the joint 1 needn't be cared about. The fuzzy controller was designed based on measures errors between the tracked trajectory and desired trajectory. Gaussian membership functions are used for fuzzification of the error inputs and defuzzification of reasoning results. Numerical simulation on tracking of circle arc was implemented for verification of the presented fuzzy controller.