Switching Control of Planar PPR Underactuated Robot with External Interference and Non-Zero Initial Velocity
Planar underactuated robots are mainly applied in the microgravity field, such as deep sea and deep space. The system modeling and stability control of planar underactuated robots are prerequisites to ensure successful task completion. The planar prismatic–prismatic–rotational (PPR) underactuated ro...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-06-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/15/12/6601 |
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| Summary: | Planar underactuated robots are mainly applied in the microgravity field, such as deep sea and deep space. The system modeling and stability control of planar underactuated robots are prerequisites to ensure successful task completion. The planar prismatic–prismatic–rotational (PPR) underactuated robot is one type of planar underactuated robot structure. In this paper, the dynamic system model of planar PPR underactuated robots is built, and the switching-control strategy is designed. In the first phase, an improved PD controller based on the linkage coupling of the PPR model is designed to adjust the state quantities of the three linkages and stabilize the first two linkages to the target state. This controller has certain robustness and rapidity. In the second phase, the PPR model is downgraded to the PR model, an open-loop iterative controller is designed, and the third underactuated link is stabilized to the target state through oscillation convergence. Finally, the effectiveness and applicability of the proposed strategy were verified through the comparison of setting torque interference and the simulation of the initial velocity of the link. |
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| ISSN: | 2076-3417 |