平面两自由度欠驱动机器人的统一控制策略  

Unified control strategy for planar two-degree-of-freedom underactuated robots

作　　者：龚翔宇 黄自鑫 危少奇 曾霸 GONG Xiangyu;HUANG Zixin;WEI Shaoqi;ZENG Ba(School of Electrical and Information Engineering,Wuhan Institute of Technology,Wuhan 430205,China;Hubei Key Laboratory of Intelligent Robot(Wuhan Institute of Technology),Wuhan 430205,China;Hubei Digital Textile Equipment Key Laboratory(Wuhan Textile University),Wuhan 430200,China)

机构地区：[1]武汉工程大学电气信息学院,湖北武汉430205 [2]智能机器人湖北省重点实验室(武汉工程大学),湖北武汉430205 [3]湖北省数字化纺织装备重点实验室(武汉纺织大学),湖北武汉430200

出　　处：《武汉工程大学学报》2025年第1期93-98,共6页Journal of Wuhan Institute of Technology

基　　金：湖北省自然科学基金(2023AFB380);智能机器人湖北省重点实验室创新基金(HBIRL202301,HBIRL202302);湖北省数字化纺织装备重点实验室开放课题(KDTL2022003);武汉工程大学研究生教育创新基金(CX2023565,CX2023566,CX2023578)。

摘　　要：针对平面两自由度欠驱动机器人运动过程中的稳定问题,提出一种基于轨迹规划和跟踪的统一控制策略。首先,平面两自由度欠驱动机器人由于被动关节位置不同可分为平面Acrobot和平面Pendubot两种结构,对这两种结构的平面两自由度欠驱动机器人建立统一的动力学模型,分析两种结构下的驱动连杆与欠驱动连杆之间的耦合约束关系。然后,设计由两个控制阶段组成的运动轨迹,第一阶段控制驱动连杆跟踪预定轨迹快速到达目标位置,第二阶段欠驱动连杆也同时被间接控制到目标状态,第一阶段运动轨迹与第二阶段运动轨迹在初始时刻和终止时刻的性质相同。第一阶段运动轨迹含有驱动连杆的初始和目标状态,第二阶段运动轨迹含有待优化的可调参数。设计驱动连杆控制器跟踪叠加轨迹,叠加轨迹的参数由智能算法优化得到,使得两个连杆可以同时控制目标轨迹。最后,进行实验仿真,结果证明该策略能够在更短的控制时间内,施加较小的控制力矩使连杆连续光滑的到达目标状态并保持系统稳定。A unified control strategy based on trajectory planning and tracking was proposed to address the stability issue during the motion of planar two-degree-of-freedom underactuated robots.Firstly,the mentioned robots were classified into planar Acrobot and planar Pendubot based on their structures due to different passive joint positions.A unified dynamic model of the planar two-degree-of-freedom underactuated robot with these two structures was established,and the coupling constraint relationship between the two structures was analyzed.Then,a motion trajectory consisting of two control stages was designed.In the first stage,the actuated link was controlled to track the predetermined trajectory and quickly reached the target position.In the second stage,the underactuated link was also indirectly controlled to the target state.The motion trajectory in the first stage had the same properties as those in the second stage at the initial and end moments.The first stage trajectory contained the initial and target states of the actuated link,while the second stage trajectory contained adjustable parameters to be optimized.The actuated link controller was designed to track the superimposed trajectory,and the parameters of the superimposed trajectory were optimized by an intelligent algorithm,enabling the two links to control the objective trajectory simultaneously.Finally,simulation experiments were conducted,and the results demonstrate that this strategy can apply a smaller control torque within a shorter control time to enable the connecting rods to reach the target state continuously and smoothly while maintaining system stability.

关 键 词：平面两自由度欠驱动机器人 轨迹规划 跟踪控制 智能算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]