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为实现被动型舞伴机器人与人协调舞蹈,提出一种运动控制算法。分析了机器人所用的被动元件——伺服制动器的控制特征,建立机器人的运动学模型,并根据伺服制动器的特点划分机器人的运动状态为8种。通过静力学模型分析了各运动状态所能实现的合适的制动力矩集,该集合是全部制动力矩集的一个子集,这使得被动机器人的控制算法比常规移动机器人更加复杂。针对期望力不在该集合的情形,引入人的辅助力以合成期望力。最后基于被动性的特点提出了基于非时间参考的路径跟踪控制律。所提算法应用于2个华尔兹舞步,实验结果证明了算法的有效性。
In order to realize the coordination dance between the passive dance robot and human, a motion control algorithm is proposed. The control features of the servo-driven brake, the passive component used in the robot, are analyzed. The kinematics model of the robot is established. According to the characteristics of the servo brake, the robot’s movement state is divided into eight kinds. By statics model, the suitable braking torque set that can be achieved by each movement state is analyzed, which is a subset of the total braking torque set, which makes the control algorithm of passive robot more complicated than the conventional mobile robot. In the case of expectation is not in the collection, the introduction of human support to synthesize the desired power. Finally, based on the characteristics of passivity, a path-following control law based on non-time reference is proposed. The proposed algorithm is applied to two Waltz dance steps, the experimental results show that the algorithm is effective.