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Related Experiment Video

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A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
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A General Position Control Method for Planar Underactuated Manipulators With Second-Order Nonholonomic Constraints.

Jundong Wu, Wenjun Ye, Yawu Wang

    IEEE Transactions on Cybernetics
    |December 4, 2019
    PubMed
    Summary

    This study introduces a novel control method for planar underactuated manipulators, addressing challenges posed by second-order nonholonomic constraints. The approach utilizes bidirectional motion planning and intelligent optimization for effective end-effector positioning.

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    Area of Science:

    • Robotics
    • Control Systems Engineering

    Background:

    • Stabilizing planar underactuated manipulators without gravity presents significant challenges due to second-order nonholonomic constraints, particularly when the passive link is not the first.
    • These systems are crucial for applications in aerospace and underwater environments, necessitating robust control strategies.

    Purpose of the Study:

    • To present a position control method for planar underactuated manipulators using bidirectional motion planning and intelligent optimization.
    • To enable precise end-effector positioning from an initial to a target location.

    Main Methods:

    • Differential evolution algorithm to determine link target angles for the desired end-effector position.
    • Bidirectional motion planning involving forward and backward movements with time-scaled trajectories for smooth transitions.
    • Sliding-mode control for trajectory tracking of active links.

    Main Results:

    • The proposed method successfully controls planar four-link underactuated manipulators with varying passive joint configurations.
    • Demonstrated effectiveness in handling second-order nonholonomic constraints with passive links at different positions.
    • Achieved a simpler and more effective control process by integrating intelligent optimization and bidirectional motion planning.

    Conclusions:

    • The developed control strategy is versatile and applicable to a range of planar underactuated manipulators with nonholonomic constraints.
    • The combination of intelligent optimization and bidirectional motion planning offers a robust and efficient solution for manipulator control.