具有非驱动关节机器人基于位置和速度反馈的控制研究

Underactucted Roblt Control by Using Position and Velocity Feedback

本文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。控制策略是基于速度位置反馈的方法控制非驱动关节 ,经过仿真实现 。

The control problem of the underactuated robot is studied in this paper.,the property of the non_holonomic constraint is analysesed,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,the control strategy is designed based on position and velocity feedback to find a good position control of the non_holonomic robot.The simulation results show that the control method of the position is effective.