非驱动关节机器人的位置闭环控制研究  

Investigation of closed loop posititon control for unactuated robot

作　　者：邢卓异[1] 朱齐丹[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2004年第6期748-750,755,共4页Journal of Harbin Engineering University

摘　　要：以具有非驱动关节的水平2自由度机器人为研究对象,利用拉格朗日动力学方程,建立了具有非驱动臂的两关节机器人的动力学数学模型.利用求解非线性方程的有效方法———平均值法,对已经建立的二阶非线性微分方程的数学模型进行了平均化处理,实现了数学模型的化简.同时提出了一种非线性闭环反馈的控制方法并对此控制方法进行了仿真.在控制仿真中,实现了对非驱动关节机器人系统的期望控制目标,并验证了模型化简和控制方法的有效性.The control problem of the underactuated robot was investigated by utilizing a Lagrangian dynamics equation and setting up a mathematical model of a robot arm. The model was simplified by obtaining the averaged system of the underactuated robot, using the averaging method, which is efficient to deal with a nonlinear system . By applying it, the nonlinear system realized the close-loop control. Controlling emulation has driven the expected control goal of the robot joint system .The study also verified the abbreviation of models and validity of the controlling method.

关 键 词：非驱动臂 机器人 平均系统 非线性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]