含有非驱动关节机器人的学习控制  

LEARNING CONTROL FOR ROBOT WITH UNACTUATED JOINTS

作　　者：栾楠[1] 明爱国 赵锡芳[1] 陈建平[1] 

机构地区：[1]上海交通大学机器人研究所,200030 [2]日本电气通信大学

出　　处：《机器人》2002年第2期144-148,170,共6页Robot

摘　　要：含有非驱动关节的机器人的运动控制比一般的机器人要困难得多 .因为非驱动关节不能直接控制 ,系统属于非完全可控系统 ,一般的光滑反馈控制方法对这样的系统是无效的 .本文提出了一种学习控制的方法 ,通过学习获得高精度的前馈控制 ,实现欠驱动机器人的高精度运动控制 ,并在一台实际的欠驱动机器人上进行了实验 。The control of a robot with unactuated joints is much more difficult than a conventional robot. Because the unactuated joints can't be controlled directly, it is an incomplete controllable system. Usual smooth feedback control is not usable for such system. A method of learning control is proposed in this paper, that is dynamics feedforward control by learning. In this way, we can control an under actuated robot with high precision. The effectiveness of the method has been confirmed by experiment with an under actuated robot. Method, implementation and experimental results of the control method are described in this paper.

关 键 词：非驱动关节 欠驱动系统 学习控制 非线性优化 运动控制 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]