欠驱动两关节平面机械手的控制

欠驱动平面机械手是带有非完整约束的高度非线性系统,对其进行有效的控制仍然是个难点热点问题。针对最具代表性的两关节情形,给出了欠驱动两关节平面机械手的动力学方程,据此分析了该系统的可积性、线性化、稳定性、可控性和可反馈镇定性。根据控制目标的不同,将控制任务分为镇定到流形、镇定到单个平衡点和跟踪时变信号3种。针对这3种控制任务,分别回顾了各种已有的控制方式,仔细分析了它们的优点和有待改进的地方。最后探索了欠驱动平面机械手的研究中需要解决的几个关键问题,指出未来的可能研究方向。

Control of an Underactuated Planar 2R Manipulator

The control problem of the underactuated planar manipulator with high nonlinearity and nonholonomy are introduced.The dynamical model of the typical case with two joints is presented.The integrability,linearization,stability,controllability and feedback stabilization of the model are analyzed.According to the control objectives,the control task is devided into three types: stabilizing to the manifold,stabilizaing to a single equilibrium and tracking the time-variant signals.Control schemes of these tasks ar...