基于能量的欠驱动双臂机器人悬摆动态伺服控制  

Energy-Based Dynamical Servo Control for Brachiation of Underactuated 2-Link Robot

作　　者：赵旖旎[1] 程红太[1] 张晓华[1] 

机构地区：[1]哈尔滨工业大学电气工程及自动化学院,黑龙江哈尔滨150001

出　　处：《西南交通大学学报》2009年第3期380-384,共5页Journal of Southwest Jiaotong University

基　　金：国家自然科学基金资助项目(60875066)

摘　　要：针对欠驱动双臂机器人悬摆运动时,摆臂末端对目标点或目标轨迹的跟踪问题,提出动态伺服控制策略.利用灵长类动物悬摆运动的类单摆特性,基于李亚普诺夫稳定性理论,设计了基于能量和双臂空间构型的滑模变结构切换控制律,规划系统末端的动态空间轨迹.数值仿真实验验证了所述控制策略的有效性.A dynamical servo control strategy was proposed to control the terminal of an underactuated 2-link robot to track a given trajectory or an object during its brachiation. The single pendulum like brachiation of primates was simulated, the control rules for a sliding mode control based on energy and the spatial structure of the 2 links were designed using the Lyapunov stability theory, and the dynamic position control of the terminals of the system was achieved. Simulation results verified the effectiveness of the designed control strategy.

关 键 词：欠驱动双臂机器人 悬摆运动控制 动态伺服控制 LYAPUNOV稳定性理论 滑模变结构控制 

分 类 号：O231.2[理学—运筹学与控制论]