| 基于动态伺服的欠驱动双摆机器人仿生悬摆控制 |
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| 引用本文： | 赵旖旎,程红太,张晓华. 基于动态伺服的欠驱动双摆机器人仿生悬摆控制[J]. 机器人, 2009, 31(4): 1 |
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| 作者姓名： | 赵旖旎 程红太 张晓华 |
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| 作者单位： | 哈尔滨工业大学电气工程及自动化学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 引入动态伺服理论研究了欠驱动双摆机器人的仿生悬摆运动控制．针对欠驱动双摆机器人的仿生悬摆运动控制，引入动态伺服理论解决摆臂末端对目标轨迹的跟踪问题；利用灵长类动物悬摆运动的类单摆特性，基于李亚普诺夫稳定性理论设计了反馈控制律，并分析了闭环系统的奇点及其对于系统收敛性的影响．欠驱动双摆机器人实物系统实验结果表明，文中所设计的控制策略是有效的．
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| 关 键 词： | 欠驱动双摆机器人 动态伺服控制 李亚普诺夫稳定性理论 仿生悬摆运动 |
Life-like Brachiation Control of Underactuated Two-link Robot Based on Dynamical Servo |
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| ZHAO Yi-ni,CHENG Hong-tai,ZHANG Xiao-hua. Life-like Brachiation Control of Underactuated Two-link Robot Based on Dynamical Servo[J]. Robot, 2009, 31(4): 1 |
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| Authors: | ZHAO Yi-ni CHENG Hong-tai ZHANG Xiao-hua |
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| Affiliation: | School of Electrical Engineering and Automation;Harbin Institute of Technology;Harbin 150001;China |
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| Abstract: | With dynamical servo control theory introduced,life-like brachiation control of underactuated two-link robot is studied.For the life-like brachiation control of underactuated two-link robot,the dynamical servo theory is introduced to solve the problem of tracking a given trajectory by the terminal of swing arm.According to the pendulum-like features of primate's brachiation,a feedback control law is designed based on Lyapunov stability theory,and then the singular point in the closed loop system and their i... |
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| Keywords: | underactuated two-link robot dynamical servo control Lyapunov stability theory life-like brachiation |
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