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Underactuated manipulators have some passive joints in general, where the number of inputs is less than the degrees of freedom. These systems have complex properties in structure and they have to control a lot of generalized coordinates by few inputs. In this paper, we propose a switching control method for three-DOF underactuated manipulators. Then we convert a system of underactuated manipulator to one applied extend nonholonomic double integrator form. We try to control this system using switching control method. Here, we need to decide gain parameters using this controled method. Here, we need to decide gain parameters by a genetic algorithm (GA). The effectiveness of the proposed method is illustrated through simulations with a three-DOF underactuated manipulator.

Design of Stable Controllers with Switching Method For Three-DOF Underactuated Manipulators