Research on position control of a 2-DOF joint actuated by one single motor

Author

Luo, Yangyu ; Zhao, Fangyuan ; Li, Chengrong

Author_Institution

Inst. of Autom., Beijing, China

fYear

2012

fDate

29-31 May 2012

Firstpage

361

Lastpage

365

Abstract

In this paper, a kind of two-DOF joint actuated by one single motor through bevel gears and its position control method is studied. The joint has fewer actuators than DOFs, it belongs to underactuated mechanism. The motor torque is distributed by damper controllers on the two DOFs, so that the motion of joint can be controlled. As a kind of intelligent control method, fuzzy control can deal with objects with high complexity and fuzziness. This paper will use fuzzy control method to realize the position control of two-DOF joint. Test on the prototype proves the validity of the proposed method, desired control precision can be achieved.

Keywords

fuzzy control; gears; intelligent control; manipulators; motion control; position control; shock absorbers; vibration control; 2-DOF joint; bevel gears; damper controllers; fuzzy control; intelligent control method; joint motion; motor torque; position control method; single motor; underactuated mechanism; Fuzzy control; Gears; Joints; Position control; Robots; Shock absorbers; Torque; fuzzy control; position control; two-DOF joint; underactuated system;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems and Knowledge Discovery (FSKD), 2012 9th International Conference on

Conference_Location

Sichuan

Print_ISBN

978-1-4673-0025-4

Type

conf

DOI

10.1109/FSKD.2012.6233958

Filename

6233958