基于李群李代数的主被动关节机器人动力学及控制  

Dynamics and Control of Robot with Active and Passive Joints Using Lie Groups and Lie Algebras

作　　者：邵兵[1] 吴洪涛[1] 程世利[1] 俞水强[1] 

机构地区：[1]南京航空航天大学,南京210016

出　　处：《中国机械工程》2010年第3期253-257,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50375071);民用航天"十一五"预研项目

摘　　要：采用李群李代数符号描述了含主被动关节机器人的动力学分析和控制问题。首先用李群李代数描述了机器人的反向动力学,然后将牛顿-欧拉方法和铰接体惯量方法结合起来,给出了含主被动关节的机器人动力学解决方法。利用动力学方法得到的结果,采用计算力矩控制方法进行仿真,并与PID控制方法的仿真结果进行比较,验证了计算力矩方法的较好的性能特征。Lie groups and Lie algebras were used to study the dynamics and control of robot system with active and passive joints. The inverse dynamics were described with Lie groups and Lie algebras. Then the Newton-Euler method and articulated body method were combined together to handle with the problems of the robot dynamics with active and passive joints. The computed torque control law was used to simulate with the results of dynamics. Compared with the simulation results of PID control law, the computed torque control law has better performance.

关 键 词：机器人动力学 李群李代数 主被动关节 计算力矩控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] O313[自动化与计算机技术—控制科学与工程]