PPR型平面欠驱动机械臂的点位控制

研究了PPR型平面欠驱动机械臂(第1个关节和第2个关节是移动关节且是受控的,第3个关节为被动的转动关节)在水平面运动的点位控制问题.首先,通过输入和坐标变换方法,系统的动力学方程被变换成二阶链式形式.其次,提出用反步法推导出保证系统指数渐近稳定的控制器.仿真结果表明,机械臂能够稳定地从任意初始位置运动到任意给定的位置,从而证明了控制器设计的有效性.

Point-to-point control of a planar PPR under-actuated manipulator

The point-to-point control problem of a planar PPR under-actuated manipulator is considered in this paper. The PPR under-actuated manipulator with the first and the second prismatic actuated joints and the third passive revolute joint can only move in the horizontal plane. Firstly, the motion equations are transformed into the second order chained form by using input and coordinate transformations method. Secondly, the paper proposed an exponential asymptotic stable controller for the system by integrator backstepping method. Simulation results indicate that the proposed controller can effectively stabilize the manipulator system from any initial position to any desired position.