| 欠驱动机器人可控性研究方法综述 |
| |
| 引用本文： | 陈炜,余跃庆,张绪平.欠驱动机器人可控性研究方法综述[J].工业仪表与自动化装置,2006(3):12-15. |
| |
| 作者姓名： | 陈炜 余跃庆 张绪平 |
| |
| 作者单位： | 北京工业大学,机电学院,北京,100022 |
| |
| 基金项目： | 中国科学院资助项目
,
北京市科技新星计划项目 |
| |
| 摘 要： | 欠驱动机器人是指控制输入少于系统自由度的一类机器人.由于系统中非完整约束的出现,可积性和可控性成为对欠驱动机器人进行有效控制首要关心的问题.该文分析了欠驱动机器人约束的可积性,综述了此类机器人系统的线性可控性,非线性可控性等其他分析方法的研究进展,并提出了欠驱动机器人控制进一步的研究方向.
|
| 关 键 词： | 欠驱动机器人 非完整约束 可控性 |
| 文章编号： | 1000-0682（2006）03-0012-04 |
| 收稿时间： | 2005-12-18 |
| 修稿时间： | 2005年12月18 |
A survey of the controllability of underactuated robots |
| |
| CHEN Wei,YU Yue-qing,ZHANG Xu-ping.A survey of the controllability of underactuated robots[J].Industrial Instrumentation & Automation,2006(3):12-15. |
| |
| Authors: | CHEN Wei YU Yue-qing ZHANG Xu-ping |
| |
| Affiliation: | The college of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China |
| |
| Abstract: | Underactuated robots are referred to as a class of mechanical system with less inputs than the degrees of freedom. Both integrability and controllability are very important factors for any underactuated robot system. They must be considered before the efficient control design because of the presence of the nonholonomic constraints. This paper analyses the integrability of constraints and the development of various controllability test methods including linear, nonlinear and constructive ones. The direction of further research is also presented. |
| |
| Keywords: | underactuated robots nonholonomic constraint controllability |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
