摘要
主要研究了一类具有弹簧耦合关节的二连杆欠驱动机器人从某一初始位置到不稳定平衡点位置的运动及稳定控制的问题。建立了其在重力作用环境下拉格朗日形式的动力学模型。在基于无源性理论的基础上,结合Lyapunov函数,设计了一种运动控制器,使机器人系统能够由初始位置运动至垂直竖立位置的邻域,并结合使用LQR控制器使之达到平衡稳定。计算机仿真结果验证了两个控制器的控制效果可行。
In this paper,the problems of motion and stability control of a two-link underactuated robot with spring-coupled joints are studied. The Lagrangian dynamical model of this system under the action of gravity is established. Combined with the Lyapunov function,a controller based on passivity theory is designed to make the robot system move closer to the unstable equilibrium point. In addition,with the help of LQR-based controller,this kind of robot system can stabilize in its unstable top equilibrium point. The effectiveness of the controller is verified by computer simulation results.
出处
《北京信息科技大学学报（自然科学版）》
2017年第3期25-29,共5页
Journal of Beijing Information Science and Technology University
基金
国家自然科学基金资助项目(11472058)
