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 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.