可重构单体机器人动力学分析与控制  

Dynamic Analysis and Control of a New Reconfigurable Robot

作　　者：贺鑫元[1,2] 马书根[1,3] 李斌[1] 王明辉[1,2] 

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]中国科学院研究生院,北京100039 [3]立命馆大学,日本滋贺

出　　处：《中国机械工程》2005年第21期1889-1894,共6页China Mechanical Engineering

基　　金：国家863高技术研究发展计划资助项目(2002AA422130)

摘　　要：给出了可重构机器人在移动过程中的动力学模型,并提出了相应两种控制方法,即构形调整法和状态调整法。通过仿真试验得到,构形调整法能够在不影响状态的情况下,同时满足机器人运动稳定性和越障性的要求,增强了机器人运动的鲁棒性。A new reconfigurable robot was introduced, and it had distinguishing features on the mechanism, that from one driving input, the reconfigurable robot can give outputs in different forms under various constraint conditions. It can achieve the movement of crossing obstacle automatically. But it also reduced the stability of locomotion. For harmonizing the stability and obstacle performance and elimininating the influences of resisting forces acted on the belt wheels by track, the dynamics of the reconfigurable robot was presented, and two control modes were brought forward： configuration modulation and state modulation. By the simulation, it is known that the configuration modulation can satisfy the stability and crossing obstacle, and has little influences on the states. As a result, the robustness of the robot locomotion gets the better.

关 键 词：可重构 机器人 动力学 鲁棒性 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]