A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization
In various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intelligent optimization algorithm to enhance the contro...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-03-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/3/156 |
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| author | Zixin Huang Xiangyu Gong Xiao Wan Hongjian Zhou |
| author_facet | Zixin Huang Xiangyu Gong Xiao Wan Hongjian Zhou |
| author_sort | Zixin Huang |
| collection | DOAJ |
| description | In various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intelligent optimization algorithm to enhance the controller parameters. Initially, a comprehensive dynamic model is developed for the robot with its control properties described. Subsequently, we design a PD controller to control the movement of the planar 2R underactuated robot. The differential evolution algorithm (DEA) is used to optimize the parameters of the PD controller to obtain the best control effect and make each link reach the target state. The findings from the simulation demonstrate the efficacy of the approach, and the designed strategy shows a higher stability and convergence rate, highlighting its important contribution to the field of underactuated robots. |
| format | Article |
| id | doaj-art-c99a4ff953d744059d67ac80ce54dc76 |
| institution | DOAJ |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-c99a4ff953d744059d67ac80ce54dc762025-08-20T02:41:54ZengMDPI AGActuators2076-08252025-03-0114315610.3390/act14030156A Simple Control Strategy for Planar 2R Underactuated Robot via DEA OptimizationZixin Huang0Xiangyu Gong1Xiao Wan2Hongjian Zhou3School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, ChinaSchool of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, ChinaSchool of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, ChinaSchool of Mechanical & Electrical Engineering, Wuhan Institute of Technology, Wuhan 430205, ChinaIn various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intelligent optimization algorithm to enhance the controller parameters. Initially, a comprehensive dynamic model is developed for the robot with its control properties described. Subsequently, we design a PD controller to control the movement of the planar 2R underactuated robot. The differential evolution algorithm (DEA) is used to optimize the parameters of the PD controller to obtain the best control effect and make each link reach the target state. The findings from the simulation demonstrate the efficacy of the approach, and the designed strategy shows a higher stability and convergence rate, highlighting its important contribution to the field of underactuated robots.https://www.mdpi.com/2076-0825/14/3/156planar underactuated robotdifferential evolution algorithmunderactuated system |
| spellingShingle | Zixin Huang Xiangyu Gong Xiao Wan Hongjian Zhou A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization Actuators planar underactuated robot differential evolution algorithm underactuated system |
| title | A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization |
| title_full | A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization |
| title_fullStr | A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization |
| title_full_unstemmed | A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization |
| title_short | A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization |
| title_sort | simple control strategy for planar 2r underactuated robot via dea optimization |
| topic | planar underactuated robot differential evolution algorithm underactuated system |
| url | https://www.mdpi.com/2076-0825/14/3/156 |
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