PPR型平面欠驱动机械臂的点位控制.pdfVIP

24 3 Vol. 24 No. 3 2007 6 Control Theory Applications Jun. 2007 2007 PPR , , (1. , 100083; 2. , 100084) : PPR(12, 3 ). , , . , . , , . : ; ; ; : TP242 : A Point-to-point control of a planar prismatic-prismatic-revolute(PPR) under-actuated manipulator LIU Sheng-ping , WU Li-cheng , LU Zhen (1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China; 2. State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China) Abstract: The point-to-point control problem of a planar PPR under-actuated manipulator is considered in this paper. The PPR under-actuated manipulator with the first and the second prismatic actuated joints and the third passive revolute joint can only move in the horizontal plane. Firstly, the motion equations are transformed into the second order chained form by using input and coordinate transformations method. Secondly, the paper proposed an exponential asymptotic stable controller for the system by integrator backstepping method. Simulation results indicate that the proposed controller can effectively stabilize the manipulator system from any initial position to any desired position. Key words: under-actuated; planar manipulator; backstepping; point-to-point control 1 (Introduction) . (under