基于MATLAB/Simulink的欠驱动机器人仿真实验  

Simulation Experiments of Underactuated Robot Based on MATLAB/Simulink

作　　者：赵海滨[1] 刘冲[1] 陆志国[1] 于清文[1] 颜世玉[1] ZHAO Haibin;LIU Chong;LU Zhiguo;YU Qingwen;YAN Shiyu(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China)

机构地区：[1]东北大学机械工程与自动化学院,沈阳110819

出　　处：《实验室研究与探索》2018年第9期92-94,100,共4页Research and Exploration In Laboratory

基　　金：国家自然科学基金资助项目(51405073;51505069);中央高校基本科研业务费资助项目(N150308001)

摘　　要：欠驱动两自由度机器人Pendubot具有较强的非线性和耦合性,通常用于非线性控制和机器人等的教学和科研。Pendubot系统的动力学方程非常抽象和复杂,为了提高课堂教学质量,根据动力学方程采用MATLAB/Simulink建立了Pendubot系统仿真和控制实验,采用线性二次型调节器(LQR)实现了在最高不稳定平衡位置的平衡控制。学生可以自行修改系统的参数,并进行动态仿真和观察结果,实现了理论和实践的结合,增加学生的学习热情,有助于培养学生的动手能力和创新意识。Underactuated robot Pendubot with two degrees of freedom has strong nonlinearity and strong coupling.It is usually used as teaching and research platform of nonlinear control and robot.The dynamic functions of Pendubot are highly abstract and complex.To improve the classroom teaching quality,simulation and control experiments are built based on MATLAB/Simulink according to Pendubot’s dynamic functions.It can operate balance control at the highest unstable equilibrium position using linear quadratic regulator(LQR).Students can modify the system parameters,do dynamic simulations and observe the results.It can realize the combination of theory and experiments.It can stimulate students’learning enthusiasm and help to cultivate students’operational ability and innovation ability.

关 键 词：欠驱动机器人 仿真实验 MATLAB仿真 平衡控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]