论文部分内容阅读
PPA型机器人是一类新型的三连杆欠驱动机械系统,具有3个自由度,但只有1个驱动装置.针对这类欠驱动机器人的运动控制,提出一种分区的控制策略,使之从垂直向下的位置摇起到垂直向上的位置,并实现稳定控制.首先,将系统的运动空间划分为摇起区和吸引区;其次,应用一种基于Lyapunov函数的控制方法来增加系统能量和控制驱动杆姿态,实现摇起操作;再次,采用最优控制方法设计平衡控制,实现稳定的平衡控制;最后,通过仿真实验验证了所提出控制方法的有效性.
PPA robot is a new type of three-link under-driven mechanical system with three degrees of freedom, but only one drive.Aiming at the motion control of such under-driven robot, a partition control strategy is proposed, The vertical downward position sway up to the vertical upward position and achieve stable control.Firstly, the system’s motion space is divided into the rolling area and the suction area.Secondly, a control method based on Lyapunov function is used to increase the system energy and Control the attitude of the driving rod, and realize the rolling operation. Thirdly, the optimal control method is used to design the balance control so as to achieve the stable balance control. Finally, the simulation results show the effectiveness of the proposed control method.