平面2R欠驱动机器人的轨迹规划与控制

以含有一个主动关节的平面2R欠驱动机器人为研究对象，对此类欠驱动系统的轨迹规划问题进行了研究。首先建立了系统的动力学模型，采用时间尺度方法实现了主动和被动关节点到点的轨迹规划，然后引入滑模控制方法进行反馈控制，使被控系统收敛到给定的规划曲面上，克服了非完整系统不存在光滑状态反馈控制律使系统镇定的缺点。数值仿真结果验证了方法的有效性，为欠驱动系统的轨迹规划与控制提供了一种有效的途径。

Trajectory Planning and Control of an Underactuated 2R Planar Robot

This paper focused on the nonholonomic trajectory planning of underactuated 2R planar robot with one actuator.First the dynamics model was built,the time-scaling method was used to realize the point-to-point trajectory planning for both active and passive joints.Then the sliding mode control(SMC) method which converged the underactuated system to the planned manifold was introduced to achieve the feedback control.The SMC can overcome the shortcoming of nonholonomic systems that the smooth state feedback to an equilibrium point is impossible.Numerical simulation results illuminate the effectiveness of the proposed method.The proposed method provides an effective way for the trajectory planning and control of underactuated systems.