一类三关节体操机器人的类等效建模

无力矩驱动模式的电机驱动器使得三关节体操机器人控制难度增加,但具有实际意义.针对该类机器人系统,提出了基于＂类等效＂思想的简化动力学模型,该模型由刚体动力学和加速度驱动两个子模型构成.利用拉格朗日法建立刚体动力学方程;使用频率响应法得到加速度驱动模型的伯德图并确定了其阶次,根据阶跃响应曲线确定其纯滞后;使用改进的遗传算法辨识模型参数.通过对简化前后的模型进行对比实验以及简化模型的稳定控制实验,验证了简化模型的有效性和优越性.

Quasi-equivalent modeling of a three-link acrobot

The control difficulty will rise if the three-link acrobot uses a motor driver without torque-driven mode,but it’s of practical.A simplified dynamic model composed of body dynamic and motor driven model based on "quasi-equivalen" method is presented to solve the modeling problem of such a robot.The body dynamic function is constructed by using Lagrange function.The order of acceleration driven model is identified by the Bode Plot via frequency response based modeling method,and the pure delay is added according to the acceleration response curves.The variables of the model are identified by using a modified generation algorithm(GA).Experiments show the effectiveness and superiority of the simplified model.