A Survey of Planar Underactuated Mechanical System

被引:0
|
作者
Huang, Zixin [1 ,2 ,3 ,4 ,5 ]
Yu, Chengsong [1 ]
Zeng, Ba [1 ]
Gong, Xiangyu [1 ]
Zhou, Hongjian [1 ,6 ]
机构
[1] Wuhan Inst Technol, Sch Elect & Informat Engn, Wuhan 430205, Peoples R China
[2] Wuhan Text Univ, Hubei Key Lab Digital Text Equipment, Wuhan 430200, Peoples R China
[3] Wuhan Inst Technol, Hubei Key Lab Intelligent Robot, Wuhan 430205, Peoples R China
[4] Xihua Univ, Prov Engn Res Ctr New Energy Vehicle Intelligent C, Chengdu 610039, Peoples R China
[5] Yunnan Minzu Univ, Yunnan Key Lab Unmanned Autonomous Syst, Kunming 650031, Peoples R China
[6] Wuhan Inst Technol, Sch Mech & Elect Engn, Wuhan 430205, Peoples R China
关键词
planar underactuated mechanical system; planar underactuated manipulator; nonlinear control; integral characteristics; intelligent control; classifications; POSITION-POSTURE CONTROL; SLIDING-MODE CONTROLLER; TRAJECTORY TRACKING CONTROL; CONTROL STRATEGY; INTELLIGENT OPTIMIZATION; MANIPULATOR; ROBOT; DESIGN; STABILIZATION; CONTROLLABILITY;
D O I
10.3390/machines12120829
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
Planar underactuated mechanical systems have been a popular research issue in the area of mechanical systems and nonlinear control. This paper reviews the current research status of control methods for a class of planar underactuated manipulator (PUM) systems containing a single passive joint. Firstly, the general dynamics model and kinematics model of the PUM are given, and its control characteristics are introduced; secondly, according to the distribution position characteristics of the passive joints, the PUM is classified into the passive first joint system, the passive last joint system, and the passive intermediate joint system, and the analysis and discussion are carried out in respect to the existing intelligent control methods. Finally, in response to the above discussion, we provide a brief theoretical analysis and summarize the challenges faced by PUM, i.e., uncertainty and robustness of the system, unified control methods and research on underactuated systems with uncontrollable multi-passive joints; at the same time, the practical applications have certain limitations that need to be implemented subsequently, i.e., anti-jamming, multi-planar underactuated robotic arm co-control and spatial underactuated robotic arm system development. Aiming at the above challenges and problems in the control of PUM systems, we elaborate on them in points, and put forward the research directions and related ideas for future work, taking into account the contributions of the current work.
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页数:30
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