考虑驱动器特性的柔性弹跳机器人的轨迹跟踪控制
发布时间：2018-08-28 06:29
【摘要】：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。
[Abstract]:Aiming at the problem of underactuation and trajectory tracking control of bouncing robot, a hybrid motor and hydraulic hybrid drive bionic flexible bouncing robot system is proposed. Firstly, the kinematics model of underactuated flexible bouncing robot is established. The dynamic coupling relationship between active and passive joints is obtained by polynomial programming of order 5. Then, the motion laws of the center of mass with and without the driver characteristics are compared. Secondly, the complete dynamic model of the robot with actuator characteristics is established, and the motion control of the robot is carried out by combining partial feedback linearization and pole assignment. Finally, the simulation results show that the flexible joint can improve the jumping performance of the robot, and the proposed control method is feasible.
【作者单位】： 西北工业大学机电学院;
【基金】：教育部博士点基金项目(20136102130001) 国家自然科学基金项目(50975230)资助
【分类号】：TP242
[Abstract]:Aiming at the problem of underactuation and trajectory tracking control of bouncing robot, a hybrid motor and hydraulic hybrid drive bionic flexible bouncing robot system is proposed. Firstly, the kinematics model of underactuated flexible bouncing robot is established. The dynamic coupling relationship between active and passive joints is obtained by polynomial programming of order 5. Then, the motion laws of the center of mass with and without the driver characteristics are compared. Secondly, the complete dynamic model of the robot with actuator characteristics is established, and the motion control of the robot is carried out by combining partial feedback linearization and pole assignment. Finally, the simulation results show that the flexible joint can improve the jumping performance of the robot, and the proposed control method is feasible.
【作者单位】： 西北工业大学机电学院;
【基金】：教育部博士点基金项目(20136102130001) 国家自然科学基金项目(50975230)资助
【分类号】：TP242
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