欠驱动单杠体操机器人研究综述  

A Survey on Research of the Underactuated Horizontal Bar Gymnastic Robot

作　　者：刘大生[1] 颜国正[1] 

机构地区：[1]上海交通大学电子信息与电气工程学院医学精密工程及智能系统研究所,上海

出　　处：《动力系统与控制》2016年第2期48-60,共13页Dynamical Systems and Control

摘　　要：体操机器人是非线性、强耦合、多状态的欠驱动系统,且在稳摆区域属于自然不稳定系统,这类系统能反映出许多控制领域的关键问题,国内外许多学者投身于体操机器人的控制研究。本文综述了国内外有关欠驱动单杠体操机器人的研究现状,分析和讨论了体操机器人在动力学建模及运动控制研究方面的理论与方法,具体分析了体操机器人的摆起、平衡、加速及大回环运动的主要控制方法,对存在的问题进行了讨论,并对未来的发展趋势进行了展望。The gymnastic robot is a nonlinear, strongly coupled, multi-state underactuated system and be- longs to the natural unstable systems in the stable region. This kind of system can reflect the key problems of many control areas, and a lot of scholars have devoted themselves to the research of controlling the gymnastic robot. This paper reviews the domestic and foreign research on the horizontal bar gymnastic robot. In the paper, the relevant theories and methods of the research on the dynamic modeling and motion control of the gymnastic robot are analyzed and discussed, the control on the swing up, balance, acceleration and giant-swing motion movement of the gymnastic robot is analyzed in detail, furthermore, the existing problems are discussed, and the development trend in the future is prospected.

关 键 词：体操机器人 欠驱动 控制策略 非线性系统 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]