网络化单连杆刚性关节机械臂系统的可控性

Controllability in Networked System of Single Rigid Joint Manipulators

主要研究了网络化单连杆刚性关节机械臂系统的可控性问题。基于单输入—状态反馈线性化技术,提出了一种可行的网络化单连杆刚性关节机械臂系统可控性分析方法,并给出了网络化单连杆刚性关节机械臂系统可控性的一般准则。准则表明链式拓扑结构下的网络化单连杆刚性关节机械臂系统总是可控的,并且其控制输入能够精确地显式表达出来。最后通过仿真验证了所给理论结果的有效性。

The primary purpose of this paper is to propose an analysis procedure for studying controllability in networked single rigid joint manipulator systems. A general criterion for controllability of networked nonlinear dynamical systems consisting of N single rigid joint manipulators was presented based on the theory of single input - state feedback linearization techniques. It is shown that networked single rigid joint manipulator systems with chain topology can always be controllable, and the corresponding input control can be explicitly given through its analysis procedure. Finally, numerical simulations were performed to demonstrate the feasibility and effectiveness of the proposed procedure.