| 一类球面机器人动力学建模与无源控制 |
| |
| 引用本文： | 王跃灵,王沛然,王洪斌.一类球面机器人动力学建模与无源控制[J].计算机仿真,2009,26(6):156-159. |
| |
| 作者姓名： | 王跃灵 王沛然 王洪斌 |
| |
| 作者单位： | 燕山大学电气工程学院,河北,秦皇岛,066004 |
| |
| 摘 要： | 针对一类作为拟人肩的球面3-RRR并联机器人的轨迹跟踪问题,在分析该机器人机构特性的基础上,通过计算各构件的动、势能,采用拉格朗日方法建立了其动力学模型,并给出了模型参数矩阵的基本性质.针对模型利用Backstepping方 法,结合其参数矩阵基本性质,设计了一种无源控制器.控制器作用下,系统严格输出无源,其广义变量能够很好地跟踪给定信号,进而使得系统动平台能够跟踪给定位姿变化.严格证明和仿真验证了控制器的有效性及该机器人能够满足作为拟人肩必需的跟踪特性.
|
| 关 键 词： | 球面并联机器人 建模 无源控制 仿真 |
Dynamics Modeling and Passive Control for a Class of Spherical Robot |
| |
| WANG Yue-ling,WANG Pei-ran,WANG Hong-bin.Dynamics Modeling and Passive Control for a Class of Spherical Robot[J].Computer Simulation,2009,26(6):156-159. |
| |
| Authors: | WANG Yue-ling WANG Pei-ran WANG Hong-bin |
| |
| Affiliation: | Electrical Engineering Institute;Yanshan University;Qinhuangdao Hebei 066004;China |
| |
| Abstract: | A dynamic model of the spherical 3-RRR parallel robot used for humanoid shoulder is established by the Lagrange method after analyzing the characteristic of the structure and calculating the kinetic energy and potential energy of every component of the robot,considering the trajectory tracking.The general character of parameter matrix is proposed.A passive controller is designed by Backstepping method,considering the character of parameter matrix.The system is strictly output passive and the general variabl... |
| |
| Keywords: | Spherical parallel robot Modeling Passive control Simulation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
