| The underactuated robot is a kind of mechanical system which has less passivejoints than DOF of systerm, it has the merits of light weight, low energy consumption,great flexibility low cost and so on. The underactuated robot has theoreticalsignificance and broad application prospects.Becomes an advanced topic in roboticsresearch field.In this thesis, a3R horizontal underactuated robot is introduced.Multi-jointcoupling controller is designed based on a fuzzy control theory and multi-jointcoupling strategy. The simulation and experiment of trajectory is realized in the3Rplanar underactuated robot with one free join coupling by the two active joint.Compared and analysis the result of different control strategy.Firstly, the property of the dynamic model build by Lagrange equation isanalyzed. The simulation and experiment of trajectory is realized.based on a fuzzycontrol theory and multi-joint coupling strategy.Multi-joint coupling controller isdesigned with one free join coupling by the two active joint the simulation andexperiment of trajectory is realized.Secondly, based on fuzzy control theory and multi-joint coupling strategy, usingAdams and Matlab co-simulation method, the circular trajectorythe linear trajectory ofthe endpoint are simulated respectively. The higher control accuracy of multi-jointcoupled system is presented. It illuminated that the designed method is feasibility andapplicable.Finally, based on the underactuated robot platform, the experimental controlinterface is designed. On this experimental system, using the designed multi-jointcoupling controller systems, the circular trajectory, the linear trajectory and thecomplex trajectory tracking of the endpoint are carried out. Compared the results anderrors analysis with single joint coupling experiment results.It show that themulti-joint coupling strategy has the higher control accuracy.The feasibility andvalidity of the multi-joint coupling method is tested. |
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