| 基于最小值原理的壁面攀爬机器人时间最优控制 |
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| 引用本文： | 徐林,孙树栋,陈立彬,杨建元. 基于最小值原理的壁面攀爬机器人时间最优控制[J]. 中国制造业信息化, 2006, 35(21): 37-41 |
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| 作者姓名： | 徐林 孙树栋 陈立彬 杨建元 |
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| 作者单位： | 西北工业大学,机电学院,陕西,西安,710072 |
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| 基金项目： | 国家高技术研究发展计划(863计划);西北工业大学校科研和教改项目 |
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| 摘 要： | 首先简要介绍了一种新型双索牵引壁面攀爬机器人结构,并建立了该系统的数学模型。其次,依据庞特里雅金最小值原理推出了机器人本体两点间运动时间最优的控制律,并将该非线性方程组的求解看作是一个两点边值问题,通过引入简单打靶法以及一种初值猜测技术来求解该方程组。最后,数值仿真表明所建模型及控制规律是可行的。
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| 关 键 词： | 壁面攀爬机器人 最小值原理 时间最优控制 两点边值问题 打靶法 |
| 文章编号： | 1672-1616(2006)21-0037-05 |
| 修稿时间： | 2006-07-26 |
The Time-optimal Control of a Wall-climbing Robot Based on the Minimum Principle |
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| XU Lin,SUN Shu-dong,CHEN Li-bin,YANG Jian-yuan. The Time-optimal Control of a Wall-climbing Robot Based on the Minimum Principle[J]. Manufacture Information Engineering of China, 2006, 35(21): 37-41 |
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| Authors: | XU Lin SUN Shu-dong CHEN Li-bin YANG Jian-yuan |
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| Abstract: | It illustrates the structure of a double draglines towing wall-climbing robot, formulates an algorithm for time-optimal control based on the minimum principle. By the analysis of the robot's kinematics and dynamics, it establishes a model for the robot control system in the Lagrange's Equation. This optimal form is considered as a Two-Point Boundary Value Problem (TPBVP), and the shooting method based on an initial variable guess set can be used to search the solution. Simulation results show that the algorithm is feasible and reliable. |
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| Keywords: | Wall-climbing Robot Minimum Principle Time-optimal Control TPBVP Shooting Method |
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