欠驱动关节机械臂位置控制研究  

On position control in robot arm with unactuated joint

作　　者：陈晔[1] 王德石[1] 

机构地区：[1]海军工程大学兵器工程系,武汉430033

出　　处：《海军工程大学学报》2007年第5期14-17,共4页Journal of Naval University of Engineering

基　　金：国家自然科学基金资助项目(50275146)

摘　　要：以具有欠驱动关节的水平两自由度机械臂为研究对象,研究当驱动关节达到指定位置后,以幅值和频率可调的驱动关节角速度信号为控制输入量来控制欠驱动关节的位置。用平均法对欠驱动机械臂的拉格朗日动力学模型进行了简化,并基于简化后的模型给出了闭环非线性反馈控制律。仿真结果表明,所设计的闭环非线性反馈控制率能够使任意初始位置的欠驱动关节趋近其指定位置。A planar 2 degree of freedom arms with an unactuated joint is proposed. Once the actuated joint is moved to its desired position, oscillatory input, whose amplitude and frequency can be modulated, is applied to the actuated joint turning rate to move the unactuated joint. The mathematical model was simplified with the method of averaging, and the closed-loop nonlinear feedback control scheme was presented. The simulation results show that the effectiveness and feasibility of the proposed methods, and the unactuated joint can be moved to the desired position from any initial points.

关 键 词：欠驱动关节 角速度输入 平均法 闭环非线性反馈 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]