一种欠驱动柔性机器人模型的建立及控制

采用Lagrange建模方法建立了欠驱动柔性自平衡机器人的数学模型,对柔性关节部分考虑了其弹性势能,仿真验证了模型的正确性,刚度越大,机器人上半身角度跟踪越快.采用线性二次型最优控制有效地控制了柔性机器人的平衡问题,通过实验,验证了在状态不完全可观测情况下系统的可控性,实验表明,只需机器人上半身部分安装传感器即可控制机器人达到平衡状态.对机器人结构的设计提供了参考.

Modeling and Control of an Under-actuated Flexible Robot

Based on Lagrange method,the model of an under-actuated flexible self-balancing robot with two wheels was established.The elastic potential energy had been considered for the flexible joint part.According to simulation,the model was validated,and along with the increasing of the inflexibility,the tracking of the upper angle was quick.The flexible robot was controlled to be balancing well using the linear quadratic optimal control method.According to the simulation experiment,the controllability in the incompletely observable condition was verified.The result also showed that the robot can be controlled to be balancing by installing the sensors on the upper part of the body,and it provides reference about the structure design of robot.