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针对欠驱动体操机器人倒立平衡控制问题,给出一种基于动力学模型的三关节欠驱动体操机器人平衡控制方案。首先将三关节欠驱动体操机器人简化为一个在垂直平面上运动的三关节机器人,采用拉格朗日力学方法建立动力学模型,并推导出体操机器人系统状态方程,然后设计LQR控制器,使体操机器人稳定在不稳定的倒立平衡点,最后进行了仿真,结果表明LQR控制器实现了在两输入情况下允许的稳态误差快速响应。
In order to solve the problem of inverted balance control of underactuated robot, a balancing control scheme of underactuated robot with three joints based on dynamic model is presented. Firstly, the three-joint underactuated robot is reduced to a three-joint robot moving in the vertical plane. The dynamic model is established by Lagrange mechanics and the equation of state of the robot system is deduced. Then the LQR controller is designed to make the gymnastics The robot is stabilized at an unstable inverted position, and a simulation is performed. The results show that the LQR controller achieves a fast response to the steady-state error allowed under both inputs.