摘要
As modem society is developing rapidly, the robots in our lives as well as industrial manufacturing and other aspects have occupied an important position. Requirements for the robot control and accuracy are getting higher and higher, and the dynamic control of the robot has thus been getting the better development. The dynamic problem of the robot is helpful to keep the dynamic characteristics and static characteristics of the robot, which is of great significance to the control problem of the robot. In the process of dynamic analysis of the three-link robot, the system model of the three-link robot is simplified accordingly, and then the classical Lagrangian functional equilibrium method is used to derive the robot dynamics equation. After the kinetic equation, based on the passive characteristics of the three-link robot arm, we use the PD control with gravity compensation for the robot, and use the Lyapunov function to prove that the system has any trajectories in the vicinity of the equilibrium state under any initial condition which is near the equilibrium state, proves the stability of the three-link robot system.
As modem society is developing rapidly, the robots in our lives as well as industrial manufacturing and other aspects have occupied an important position. Requirements for the robot control and accuracy are getting higher and higher, and the dynamic control of the robot has thus been getting the better development. The dynamic problem of the robot is helpful to keep the dynamic characteristics and static characteristics of the robot, which is of great significance to the control problem of the robot. In the process of dynamic analysis of the three-link robot, the system model of the three-link robot is simplified accordingly, and then the classical Lagrangian functional equilibrium method is used to derive the robot dynamics equation. After the kinetic equation, based on the passive characteristics of the three-link robot arm, we use the PD control with gravity compensation for the robot, and use the Lyapunov function to prove that the system has any trajectories in the vicinity of the equilibrium state under any initial condition which is near the equilibrium state, proves the stability of the three-link robot system.
