摘要
针对欠驱动体操机器人倒立平衡控制问题,给出一种基于动力学模型的三关节欠驱动体操机器人平衡控制方案。首先将三关节欠驱动体操机器人简化为一个在垂直平面上运动的三关节机器人,采用拉格朗日力学方法建立动力学模型,并推导出体操机器人系统状态方程,然后设计LQR控制器,使体操机器人稳定在不稳定的倒立平衡点,最后进行了仿真,结果表明LQR控制器实现了在两输入情况下允许的稳态误差快速响应。
A balance control law based on dynamic model is proposed for three-joint under-actuated acrobot to balance it at its unstable,inverted position. First,giving a simple three-joint robot in the vertical position,dynamic model is derived by using Lagrange equations,and system state equation of the acrobot is deduced based on experimental data. And then,LQR controller is designed to balance it in its inverted position which is unstable. Finally,simulation shows that the LQR controller can respond to the two inputs quickly with static error which is allowable.
出处
《机电工程技术》
2009年第6期38-40,148,共4页
Mechanical & Electrical Engineering Technology
基金
国家星火计划项目(编号:2005EA850034)
