二自由度欠驱动机械臂的动力学模型与位置闭环控制仿真

Dynamic Model and Closed Loop Control Simulation of the Position for a Two DOF Underactuated Manpulator

文中以具有非驱动关节的水平两自由度机械手为对象,建立了并通过平均值法简化了系统的其动力学模型。针对简化后的平均系统,利用李亚普诺夫法设计了非驱动关节的任意位置闭环控制器,同时进行了计算机仿真。仿真结果表明平均系统与原真实系统具有相同的动力学特性,且控制方法是有效的。

We present a new control method for two link underactuated manipulator,with a passive rotational second joint in this paper.We simplified the model with using averaging method and obtained the average system of the under- actuated robot.Based above analysis,we design a closed loop control strategy for the averaged system by the Lyapunov law.The simulation results show that the real system and the average system have the same trajectory in the phase plane and the feedback control method of the position is effective.