Control Domain Design of Planar Three-Link Underactuated Manipulators Using Fuzzy Logic Systems : A MATLAB/ Simulink Approach

Abstract

Underactuated manipulators have some passive joints in general and have fewer actuators than the degrees of freedom. These have the advantages, such as light weighting of controlled objects, cost or energy reduction, and compactification because of the small number of actuators. On the other hand, these systems have complex structural characteristics and require angle control of the manipulator with only a few inputs. To address this problem, Ichida et al. proposed fuzzy energy switching for three-link underactuated manipulator. In this research, we designed an angular control simulation of three-link underactuated manipulator using the energy switching method. Here, we introduce fuzzy inference method into this system with MATLAB/Simulink.