摘要
研究了柔性两轮直立式自平衡仿人机器人的动力学建模问题.运用拉格朗日方法和动力学原理建立了柔性两轮自平衡仿人机器人的动力学模型.使用弹簧模仿人的腰椎,并考虑了机器人的柔性腰椎弯曲;这是与以前机器人的不同之处.对得到的动力学模型进行了线性化处理,并建立其状态空间方程;由此建立的动力学模型结构简单,易于对机器人进行有效控制.仿真实验验证了系统的稳定性,对其实验结果进行的详细分析验证了系统建模和LQR控制器设计的合理性和有效性.
The dynamic modeling problem for the flexible two-wheel upright self-balance humanoid robot is tackled. A dynamic model for the flexible two-wheel self-balance humanoid robot is obtained based on Lagrange equation and dynamics theory. Spring is used to imitate hominine lumbar spine and flexible lumbar curvature of the robot is considered, which are different from previous robots. The gained dynamics model is linearized and its state-space equations are established. The structure of the established dynamic model is very simple, and it is easy to control the robot effectively. Simulation results prove the system stability, and experiment results are analyzed in detail, verifying that the system modeling and the linearquadraic regulator （LQR） controller design are valid and rational.
出处
《机器人》
EI
CSCD
北大核心
2009年第2期179-186,共8页
Robot
基金
国家863计划资助项目(2007AA04-Z226)
国家自然科学基金资助项目(60774077).
关键词
柔性机器人
动力学建模
广义坐标
拉格朗日方程
腰椎
flex.ible robot
dynamic modeling
generalized coordinate
Lagrange equation
lumbar
