考虑驱动器特性的柔性弹跳机器人的轨迹跟踪控制

Trajectory Tracking Control of Compliant Hopping Robot Including Actuator Dynamics

针对弹跳机器人存在的欠驱动问题以及轨迹跟踪控制问题,提出了电机和液压混合驱动的欠驱动仿生柔性弹跳机器人系统。首先建立欠驱动柔性弹跳机器人的运动学模型,通过5次多项式规划、主动关节和被动关节的动力学耦合关系得出各关节转角的变化规律,然后比较了考虑驱动器特性和不考虑驱动器特性时质心的运动规律。其次,建立考虑驱动器特性的机器人完整动力学模型,采用部分反馈线性化和极点配置相结合的方法对其进行运动控制。最后,仿真证明柔性关节能提高机器人弹跳性能,提出的控制方法是可行的。

Aiming at the under-actuated problem and trajectory tracking control problem existed in hopping robot, the under-actuated bionic compliant hopping hybrid derived by motor and hydraulic cylinder is proposed. Firstly, the kinematical model of under-actuated compliant hopping robot is constructed. The angular motion of each joint is derived by using fifth order polynomial and the dynamic coupling between active joint and passive joint. Whether including the actuators, the motion of the center of mass is described. Secondly, the overall dynamic model including actuator dynamics is presented. The model can be controlled by using combination of partially feedback linearization and pole placement. Finally, the simulation result showed that compliant joints can improve the hopping capability and the proposed control method is feasible.