摘要
PPA型机器人是一类新型的三连杆欠驱动机械系统,具有3个自由度,但只有1个驱动装置.针对这类欠驱动机器人的运动控制,提出一种分区的控制策略,使之从垂直向下的位置摇起到垂直向上的位置,并实现稳定控制.首先,将系统的运动空间划分为摇起区和吸引区;其次,应用一种基于Lyapunov函数的控制方法来增加系统能量和控制驱动杆姿态,实现摇起操作;再次,采用最优控制方法设计平衡控制,实现稳定的平衡控制;最后,通过仿真实验验证了所提出控制方法的有效性.
A PPA robot,which has 3 degrees of freedom（DOF）but only has one actuator,is a novel class of underactuated mechanical systems.For the motion control of this robot,a zoning control strategy is presented to drive it away from the straight-down position and balance it at the straight-up position.Firstly,the motion space is divided into swing-up area and attractive area.Then a swing-up control law based on the Lyapunov function is employed to increase the system energy and control the posture.A balancing control law adopting optimal control is designed for a stable control in the attractive area. Finally,simulation results show the effectiveness of the proposed method.
出处
《控制与决策》
EI
CSCD
北大核心
2011年第7期1004-1008,1013,共6页
Control and Decision
基金
国家自然科学基金项目(61074112
60674044)
