基于Lyapunov法的非完整移动操作机运动规划  

Motion planning of non-holonomic mobile manipulator based on Lyapunov method

作　　者：闫庆辉[1] 付宜利[1] 马玉林[1] 

机构地区：[1]哈尔滨工业大学现代生产技术中心,黑龙江哈尔滨150001

出　　处：《机械设计》2007年第11期21-22,32,共3页Journal of Machine Design

基　　金：黑龙江省留学归国基金资助项目(20010701018)

摘　　要：研究了受非完整约束的轮式移动操作机运动规划问题。根据拉格朗日动力学原理建立满足非完整约束条件的动力学方程,并证明该方程的结构特性。基于Lyapunov理论设计了运动控制器,实现系统从初始位置到目标位置的运动规划。仿真结果表明该控制器的有效性。The problems of motion planning for wheel typed mobile manipulator that accepted a non-holonomic constraint was studied. In accordance with the Lagrange dynamics principle the dynamics equation that satisfying the condition of non-holonomic constraint was built up and the structural characteristics of this equation was testified. The motion controller was designed on the basis of Lyapunov theory, and the motion plan of the system from the initial position to the target position was realized. The result of simulation illustrated the effectiveness of this controller.

关 键 词：移动操作机 非完整约束 运动规划 Lyapunov法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]