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两柔性机器人协调操作的动力学模型及其逆动力学分析 总被引:23,自引:1,他引:22
柔性机器人动力学是当前机器人研究的热点,而其协调操作问题目前仍为空白.本
文首次建立了柔性机器人协调操作刚性负载的动力学模型,利用有限元法和Lagrange方程,
在柔性机器人协调操作的运动学和动力学协调约束条件基础上,推导出系统的动力学方程,
提出了其逆动力学问题的解决方案,并成功给出了平面两3R柔性臂协调操作的数值算例. 相似文献
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目前,对于柔性机器人协调操作动力学问题的研究已经取得了一定的研究成果,但
是这些研究大多采用有限元法来建立动力学模型,很难将这种模型应用到实际的控制中.本
文利用假设模态法和Lagrange方程,建立了柔性机器人协调操作系统的动力学方程,并给出
平面两3R柔性机器人协调操作刚性负载完成目标运动规划任务的数值仿真算例,从而验证本
方法的可行性和正确性. 相似文献
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本文利用闭链刚性负载内部运动参数之间的微分关系,在单柔性机器人有限元动力
学模型基础上,建立了系统的运动学和动力学协调约束条件,首次导出了基于负载运动任务
参数的柔性机器人协调操作闭链刚性负载的动力学方程,并给出了两3R柔性机器人协调操作
刚性四杆机构的仿真算例. 相似文献
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针对自由漂浮柔性空间机器人轨迹跟踪控制问题, 首先利用拉格朗日和假设模态法建立了动力学模型. 分析系统动力学模型, 综合考虑欠驱动、柔性振动等特点, 将其简化为一种带有柔性振动扰动完全可控的动力学模型; 在此基础上, 考虑控制输入受限, 提出一种自适应状态反馈控制策略. 该策略采用自适应技术实时在线学习柔性振动扰动参数, 从而保证控制律对柔性振动扰动具有良好的鲁棒性; 最后, 基于Lyapunov方法证明了该控制策略能够实现关节期望轨迹的跟踪. 仿真验证了该控制策略对控制输入受限系统轨迹跟踪控制的有效性和可靠性. 相似文献
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柔性两轮直立式自平衡仿人机器人的建模及控制 总被引:1,自引:0,他引:1
研究了柔性两轮直立式自平衡仿人机器人的动力学建模问题.运用拉格朗日方法和动力学原理建立了柔性两轮自平衡仿人机器人的动力学模型.使用弹簧模仿人的腰椎,并考虑了机器人的柔性腰椎弯曲;这是与以前机器人的不同之处.对得到的动力学模型进行了线性化处理,并建立其状态空间方程;由此建立的动力学模型结构简单,易于对机器人进行有效控制.仿真实验验证了系统的稳定性,对其实验结果进行的详细分析验证了系统建模和LQR控制器设计的合理性和有效性. 相似文献
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针对传统双足机器人模型缺少脚质量和躯干的问题,提出考虑摆动腿动态及躯干影响的柔性双足机器人模型,并对其行走控制及稳定性进行研究。首先,建立系统的动力学模型并采用欧拉-拉格朗日法推导了系统的动力学方程;同时,在弹簧负载倒立摆(SLIP)模型的基础上添加刚性躯干、脚质量及采用变长度伸缩腿,充分考虑躯干及摆动腿动力学对机器人行走步态的影响;其次,设计基于变长度腿的反馈线性化控制器来跟踪目标轨迹,以及调节摆动腿和躯干的姿态;最后,利用Newton-Raphson迭代法和庞加莱映射分析机器人的不动点及轨道稳定性条件,并在理论分析的基础上进行仿真。仿真结果表明,所提控制器可以实现机器人的周期行走,对外界干扰具有良好的鲁棒性,且雅可比矩阵所有特征值的模均小于1,能形成稳定的极限环,证明系统是轨道稳定的。 相似文献
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柔性机械臂运动轨迹的鲁棒自适应控制 总被引:2,自引:0,他引:2
本文针对多连杆柔性机械臂的运动轨迹问题,讨论了动力学建模,控制系统结构设计以及鲁棒自适应控制法,运用假设模记方法得到了柔性机械臂动力学所似方程,通过对柔性机械臂动力学特性分析,建立了等价动力学模型,依此提出了一种鲁棒自适应控制算法,并给出仿真研究结果。 相似文献
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具有柔性关节的轻型机械臂因其自重轻、响应迅速、操作灵活等优点,取得了广泛应用;针对具有柔性关节的机械臂系统的关节空间轨迹跟踪控制系统动力学参数不精确的问题,提出一种结合滑模变结构设计的自适应控制器算法;通过自适应控制的思想对系统动力学参数进行在线辨识,并采用Lyapunov方法证明了闭环系统的稳定性;仿真结果表明,该控制策略保证了机械臂系统对期望轨迹的快速跟踪,具有良好的跟踪精度,系统具有稳定性。 相似文献
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This paper presents the current state of the art in the adaptive control of single rigid robotic manipulators in the constrained motion tasks. A complete mathematical model of a single rigid robotic manipulator in contact with dynamic environment is presented. The basic approaches in deriving the environment model are given. The significance of the dynamic environment in the scope of the stability problem of the whole system robot-dynamic environment is emphasized. A classification of the adaptive contact control concepts in manipulation robotics is presented. The main characteristics of the most important adaptive strategies in constrained manipulation are given. The advantages and the drawbacks of the presented methods are emphasized. The paper covers results published a few years ago, as well as some recent trends in this field. One important result in the stability analysis of robotic manipulators in the constrained motion tasks is reported. Finally, some concluding remarks are given and possible future investigation trends in adaptive control of robotic manipulators are indicated. 相似文献
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This paper presents an experimental study of a robust control scheme for flexible-link robotic manipulators. The design is based on a simple strategy for trajectory tracking which exploits the two-time scale nature of the flexible part and the rigid part of the dynamic equations of this kind of robotic arms: A slow subsystem associated with the rigid motion dynamics and a fast subsystem associated with the flexible link dynamics. Two experimental approaches are considered. In a first test an LQR optimal design strategy is used, while a second design is based on a sliding-mode scheme. Experimental results on a laboratory two-dof flexible manipulator show that this composite approach achieves good closed-loop tracking properties for both design philosophies, which compare favorably with conventional rigid robot control schemes. 相似文献
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Xiaoping Yun 《Journal of Intelligent and Robotic Systems》1991,4(4):363-377
The coordinated control of two manipulators in the presence of environment constraints is studied in this paper. Such a control method is needed in applications in which the two manipulators grasp a common object whose motion is constrained by environments. The two manipulators are not only constrained with each other, but also constrained by the environment in their workspace. It is realized that the motion and constraint equations obtained directly from mechanics are not suitable for the control purpose. A set of equivalent equations are derived, which are in the standard form of the nonlinear system representation with clear state equations and output equations. A nonlinear feedback is found which exactly linearizes and decouples the dynamic nonlinear system of the two constrained manipulators. The coordinated controller design is then carried out based on the linearized system by using linear system theory. 相似文献
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XIAOPING YUN 《International journal of systems science》2013,44(5):915-928
Dynamic coordinated control of two robot manipulators that rigidly grasp a common object is studied. A dynamic coordinated control model for the two manipulators is derived that is suitable for system analysis and design in state space. The model takes into account kinematic and dynamic constraints between the two manipulators, and is explicitly described by non-linear state equtions and non-linear output equations in the state space. Since coordinated control requires the control of forces applied to the object by manipulators, the output equations include both position components and force components. While robotic systems with position outputs can be linearized using a static state feedback, systems with force outputs, such as the present two robot system, require a dynamic non-linear state feedback for exact linearization. By using dynamic non-linear feedback, coordinated control of two robotic manipulators is converted into a control problem of linear systems. 相似文献
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The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on a Lagrangian-assumed mode of formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations is organized in a form similar to rigid manipulator equations. This allows one to identify the differences between rigid and flexible manipulator dynamics explixitly. Therefore, current knowledge on control of rigid manipulators is likely to be utilized in a maximum way in developing new control algorithms for flexible manipulators.
Computer automated symbolic expansion of the dynamic model equations for any desired manipulator is accomplished with programs written based on commercial symbolic manipulation programs (SMP, MACSYMA, REDUCE). A two-link manipulator is used as an example. Computational complexity involved in real-time control, using the explicit, non-recursive form of equations, is studied on single CPU and multi-CPU parallel computation processors. 相似文献
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In this study, a new adaptive synchronised tracking control approach is developed for the operation of multiple robotic manipulators in the presence of uncertain kinematics and dynamics. In terms of the system synchronisation and adaptive control, the proposed approach can stabilise position tracking of each robotic manipulator while coordinating its motion with the other robotic manipulators. On the other hand, the developed approach can cope with kinematic and dynamic uncertainties. The corresponding stability analysis is presented to lay a foundation for theoretical understanding of the underlying issues as well as an assurance for safely operating real systems. Illustrative examples are bench tested to validate the effectiveness of the proposed approach. In addition, to face the challenging issues, this study provides an exemplary showcase with effectively to integrate several cross boundary theoretical results to formulate an interdisciplinary solution. 相似文献