宜人化双臂操作型服务机器人建模、控制和协调  

Dynamic Modeling,Control and Coordination for a Man-friendly Dual-arm Manipulative Service Robot

作　　者：刘英卓[1] 王越超[2] 席宁[2] 

机构地区：[1]南京财经大学电子商务实验室,江苏南京210003 [2]中科院沈阳自动化研究所机器人学重点实验室,辽宁沈阳110015

出　　处：《山西大学学报（自然科学版）》2005年第4期368-371,共4页Journal of Shanxi University(Natural Science Edition)

基　　金：国家"十五""863"项目(2001AA422170)

摘　　要：为宜人化双臂操作型服务机器人建立了动力学模型,该模型的特点是独立的机理建模技术结合黑箱技术共同描述出完整的模型;结合建立的模型,提出一种基于NN的自适应鲁棒控制器,并证明了其渐近稳定性.最后,在分析宜人化双臂操作型服务机器人运动特征的基础上,提出一种基于事件的在线协调的策略.The model for a man-friendly dual-arm manipulative service robot was built. The characteristics of the dynamics models was that they were described by the couple of independent mechanism modeling method and Black Box method. A NN-based adaptive robust controller was proposed in terms of the dynamic model followed by the proof of its asymptotical stability. On the basis of full analysis of the locomotion and manipulability characteristics,an event-based on-line coordination scheme was proposed for the cooperation of the vehicle, waist and the arms.

关 键 词：仿人机器人 RBF网络 鲁棒控制 自适应控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]