具有非驱动关节机器人的位置闭环控制  

Closed Loop Control of Position for the Underactuated Robot

作　　者：朱齐丹[1] 席志红[2] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学信息与通信工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2002年第4期67-72,共6页Journal of Harbin Engineering University

摘　　要：以具有非驱动关节的水平两自由度机械手为对象 ,建立了其动力学数学模型 ,对具有非完全约束机器人的特点进行了分析 .利用解非线性方程的有效方法平均值法对模型进行了处理 ,得到平均值系统 ,使模型得到简化 .在此基础上 ,针对平均系统 ,利用李亚普诺夫稳定性方法设计了非驱动关节的任意位置闭环控制 .仿真结果表明平均系统与原真实系统具有相同的动力学特性 。The dynamic model of the underactuated robot is derived, and the property of the non_holonomic constraint is analysesed. We have simplified the model through obtaining the average system of the underactuated robot using averaging method which is efficient to deal with nonlinear system. And then ,the closed loop control strategy is designed by a Lyapunov function for the averaged system and realize the position control of the non_holonomic robot.The simulation results show that the real system and the average system have the same trajectory in the phase plane under the disturbance of periodic input of the actuated joint of the robot, and the feedback control method of the position is effective.

关 键 词：非驱动关系 非完全约束 机器人 平均系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]