摘要
针对欠驱动双臂机器人悬摆运动时,摆臂末端对目标点或目标轨迹的跟踪问题,提出动态伺服控制策略.利用灵长类动物悬摆运动的类单摆特性,基于李亚普诺夫稳定性理论,设计了基于能量和双臂空间构型的滑模变结构切换控制律,规划系统末端的动态空间轨迹.数值仿真实验验证了所述控制策略的有效性.
A dynamical servo control strategy was proposed to control the terminal of an underactuated 2-link robot to track a given trajectory or an object during its brachiation. The single pendulum like brachiation of primates was simulated, the control rules for a sliding mode control based on energy and the spatial structure of the 2 links were designed using the Lyapunov stability theory, and the dynamic position control of the terminals of the system was achieved. Simulation results verified the effectiveness of the designed control strategy.
出处
《西南交通大学学报》
EI
CSCD
北大核心
2009年第3期380-384,共5页
Journal of Southwest Jiaotong University
基金
国家自然科学基金资助项目(60875066)
