He G., 2018, Study on the Position Control System Framework of 3R Underactuated Robot based on Fuzzy Control, Chemical Engineering Transactions, 66, 715-720.
Fuzzy control theory is adopted to study the position control system framework of 3R underactuated robot. Lagrange equation is used to establish the block matrix to solve the trajectory tracking control issue. Later, fuzzy control strategy is used to further plot the control flow chart and establish the simulation model. Based on the comparison between expected value and experiment value, the maximum of related error is 2.22% and the maximum absolute error is 1.43°. The system framework designed in this article may achieve better control over the position of 3D underactuated robot.
