欠驱动机械手的非线性补偿控制的实现

Nonlinear Compenstion Control of Underactuated Manipulator

以具有欠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。含有非驱动关节的平面二自由度机械手具有不可积分的速度和加速度束,因而是一个二阶非完整系统。通过分析系统的动力学机构,设计了一种非线性补偿控制的方法来对欠驱动关节实现控制。实验结果表明,该控制方法在控制模型、控制算法和反馈控制方法上都是十分有效的。

The dynamic mathematical model of two-degree of freedom (2DDF) robot with underactuated joint is presented.The properties of the non-holonomic constraint of the robot is analysed.The model is then simplified by using the average method in solving nonlinear systems.The 2DOF robot with underactuated joint possesses the restricts on speed and acceleration,being a second-order non-holonomic system.The nonlinear compensation control is designed by anylysing the dynamic scheme.The experiment results show the effeciency of the control method in controlling model,controlling algrithm and feedback control.