2009 Volume 21 Issue 5 Pages 884-893
This paper discusses the control method of an underactuated manipulator, which has a property of nonholonomic systems. Since there are few actuators than the numbers of joints, the underactuated manipulator has various advantages, such as lightweighting, energy saving and cost reduction. However the underactuated manipulator needs complex control. Therefore we devised a fuzzy energy region method based on a logic based switching method. The fuzzy energy region method is a technique using the logical switching rule based on the energy region expressed with the fuzzy rule. We consider the projection configuration in the case of three links with two actuators, and discuss the property of these systems. Results of the present method are illustrated with some simulations.
