摘要
根据解剖学和人体仿生学的研究成果,使机器人髋关节在功能和行走形态上接近人体髋关节,建立了三自由度正交髋关节的动力学模型并进行了实际加工;由于滑模变结构控制不需要精确的数学模型,只要知道它们的变化范围,就能对系统进行精确的轨迹跟踪控制,证明了髋关节滑模控制的存在性和可达性;建立了实际系统并进行了实验,实验结果证明了在三自由度髋关节上用滑模控制轨迹跟踪误差在±0.01 rad的范围内,能满足整个系统的要求.
A kinematics model of hip joint with 3 orthogonal degrees of freedom （DOF） is built, based on research of anatomy and bionics, in order to mak robot hip llke human hip on function and gait. Without an accurate mathematics model and only with the bound of parameter variety in slide mode variable structure control, trajectory tracking control can be implemented accurately. Furthermore, the existence and accessibility of slide mode control have been proved. Real hip joint and control system are designed and built. The experiment results show that trajectory error is within the permitted range of ＋ 0.01rad and the control method validity is proved.
出处
《沈阳工业大学学报》
EI
CAS
2006年第3期278-281,共4页
Journal of Shenyang University of Technology
基金
国家自然科学基金资助项目(60475036)
关键词
髋关节
滑模控制
轨迹跟踪
动力学模型
牛顿-欧拉法
hip joint
sliding mode control
trajectory tracking
dynamics model
Newton-Euller method
