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

摘要

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.