抄録
In this paper a new method for controller synthesis of the underactuated manipulator is proposed. Basic idea of this method is to combine passive velocity field control (PVFC) with decoupling vector field. Passive velocity field control is an effective control method for fully actuated mechanical systems. However it has been never applied to the underactuated mechanical systems. In order to apply PVFC to the underactuated mechanical systems decoupling vector field is combined. Desired velocity vector field for the PVFC is designed by the decoupling vector field. The PVFC with the decoupling vector field makes the underactuated manipulator track to the desired velocity vector field. In order that the underactuated manipulator can be stabilized at the desired position after tracking to the desired velocity vector field, some control strategies are proposed. In order to demonstrate the usefulness the proposed control strategies are applied to the underactuated 3 link manipulator. Several simulations show the usefulness of the proposed control system.
