一类平面欠驱动机械系统控制方法综述

欠驱动机械系统是机器人和非线性系统控制的研究热点，笔者对一类含有单一被动关节的平面欠驱动机械臂系统的控制方法的研究现状进行综述。给出了平面欠驱动机械臂的动力学模型和结构特点，并介绍了积分特性；根据积分特性将平面欠驱动机械臂分为完整系统、一阶非完整系统和二阶非完整系统， 并对现有运动控制方法展开分析和讨论；在此基础上，对平面欠驱动机械臂系统控制存在的问题进行了简要分析，针对未来研究方向进行了展望，如统一的控制策略，多被动关节平面机械臂控制，多平面欠驱动机械臂控制，空间欠驱动机械臂控制，鲁棒策略和实验验证。

Review of Control Method of Planar Underactuated Mechanical System

The underactuated mechanical system has always been a research hot spot of robot and nonlinear system control. This paper reviews the research of the controlling methods for the kind of planar underactuated manipulator systems with a single passive joint. Firstly， the dynamic model and structural characteristics of the planar underactuated manipulator were presented， and the integral characteristics were introduced. Secondly， according to the integral characteristics， the planar underactuated manipulators were divided into three categories: holonomic system， first-order nonholonomic system and second-order nonholonomic system. Furthermore， existing motion control methods were analyzed and discussed. Based on the above analysis， the problems existing in the control methods of the planar underactuated manipulator systems were analyzed， and the future research directions were presented， such as the unified control strategy， the control method of planar manipulator systems with multiple passive joints， multi-planar underactuated manipulator control， spatial underactuated manipulator control， robust strategy and experimental verification.