蒙皮检测机器人动力学建模与反步镇定控制  

Switching dynamics modeling and backstepping stabilization control of a robot for skin detection

作　　者：安康康[1] 王从庆[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期34-37,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：2010年江苏省科技支撑(工业)计划资助项目(BE2010190)

摘　　要：研究了双层架构蒙皮检测机器人在切换运动方式下的动力学问题.首先分析了蒙皮检测机器人的结构和受力情况;然后建立了非完整约束方程,进而基于牛顿-欧拉法分别建立了蒙皮检测机器人内外框架两个子系统的动力学模型,并建立了双层架构状态空间表达式;最后设计了反步切换控制算法.通过仿真实验验证了切换控制算法的有效性和可行性.The dynamics problem of the two-layer architecture skin detection robot in switching movement was studied.First the skin detection robot′s structure and force were analyzed;then nonholonomic constraint equations were introduced,and dynamics model of two subsystems including inner and outer frame based on the Newton-Euler method and a two-tier state space expression were established;finally,the switching control algorithm based on backstepping was designed.The effectiveness and feasibility of switching control algorithm were verified by simulation.

关 键 词：双框架蒙皮检测机器人 动力学建模 切换系统 反步镇定控制 非完整约束 牛顿-欧拉法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]