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- W2775489076 abstract "This paper presents a trajectory tracking control strategy based on the finite element method for a planar three-link underactuated manipulator with a passive third joint. From the mechanical structure, the manipulator can be thought of as composed of two parts. The first part is the first link of the manipulator, which is a single link manipulator system. The second part consists of the remaining two links, which can be seen as a plananr Pendubot. First, a finite element model of the planar Pendubot is built by using COMSOL, and the coupling relationship between its active link and its passive link is analyzed. Then, two servo controllers (A and B) with the same structure are designed for two active links of the manipulator, respectively. The servo controller A is directly applied to control the angular velocity of the first link of the manipulator rotating with a constant speed, which makes the end-point of the manipulator move along the trajectory direction. Next, a fuzzy system is designed based on the coupling relationship of the planar Pendubot to calculate the target angular velocity of the second link of the manipulator according to the tracking error and its change rate. The servo controller B is applied to control the angular velocity of the second link of the manipulator, which makes the tracking error converge to zero. Finally, Simulation results demonstrate the effectiveness and the robustness of the proposed control strategy." @default.
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- W2775489076 date "2017-10-01" @default.
- W2775489076 modified "2023-09-26" @default.
- W2775489076 title "A trajectory tracking control strategy based on finite element method for planar three-link underactuated manipulator" @default.
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- W2775489076 doi "https://doi.org/10.1109/iecon.2017.8216497" @default.
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