欠驱动两关节平面机械手的控制  

Control of an Underactuated Planar 2R Manipulator

作　　者：李明军[1] 马保离[1] 

机构地区：[1]北京航空航天大学第七教研室,北京100191

出　　处：《控制工程》2010年第1期98-101,共4页Control Engineering of China

基　　金：国家自然科学基金资助项目(60874012)

摘　　要：欠驱动平面机械手是带有非完整约束的高度非线性系统,对其进行有效的控制仍然是个难点热点问题。针对最具代表性的两关节情形,给出了欠驱动两关节平面机械手的动力学方程,据此分析了该系统的可积性、线性化、稳定性、可控性和可反馈镇定性。根据控制目标的不同,将控制任务分为镇定到流形、镇定到单个平衡点和跟踪时变信号3种。针对这3种控制任务,分别回顾了各种已有的控制方式,仔细分析了它们的优点和有待改进的地方。最后探索了欠驱动平面机械手的研究中需要解决的几个关键问题,指出未来的可能研究方向。The control problem of the underactuated planar manipulator with high nonlinearity and nonholonomy are introduced. The dynamical model of the typical case with two .joints is presented. The integrahility, linearization, stability, controllability and feedback stabilization of the model are analyzed. According to the control objectives, the control task is derided into three types： stabilizing to the manifold, stabilizaing to a single equilibrium and tracking the time-variant signals. Control schemes of these tasks are reviewed, and the advantages and the disadvantages of these schemes are analyzed. Finally, some key problems for control of underactuated planar manipulators are proposed, and the further possible research directions are pointed out.

关 键 词：欠驱动系统 两关节平面机械手 可积性 稳定性 可控性 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]