| 引用本文: | 吴伟国,席宝时.三自由度欠驱动机器人抓握目标杆运动控制[J].哈尔滨工业大学学报,2013,45(11):26.DOI:10.11918/j.issn.0367-6234.2013.11.005 |
| WU Weiguo,XI Baoshi
.Motion control for 3-DOF underactuated robot to grasp objective rod[J].Journal of Harbin Institute of Technology,2013,45(11):26.DOI:10.11918/j.issn.0367-6234.2013.11.005 |
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| 摘要: |
| 为解决Acrobot等一类欠驱动机器人依靠励振与其他控制方法相结合不能实现可靠抓握目标杆运动控制的问题．提出欠驱动机器人大阻尼非完整约束概念,研究稳定抓握目标杆的控制策略与方法．设计专用于此类机器人的手爪,该手爪可抓紧支撑杆构成大阻尼非完整约束状态;提出利用快速摇起阶段的励振控制与大阻尼状态下退转反馈控制相结合实现欠驱动机器人稳定抓握目标杆的控制策略,并进行控制器设计;利用ADAMS与MATLAB软件建立三自由度欠驱动机器人联合仿真控制系统模型．仿真结果表明,该方法可实现可靠的抓握目标杆运动控制,验证了该机器人各关节的驱动能力以及所提出控制策略的有效性． |
| 关键词: 欠驱动机器人 运动控制 参数激励 大阻尼非完整约束 |
| DOI：10.11918/j.issn.0367-6234.2013.11.005 |
| 分类号: |
| 基金项目:国家高技术研究发展计划资助项目(2006AA04Z1,2AA041601). |
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| Motion control for 3-DOF underactuated robot to grasp objective rod |
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WU Weiguo,XI Baoshi
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(School of Mechatronics Engineering, Harbin Institute of Technology, 150001 Harbin, China)
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| Abstract: |
| To solve the problem of Acrobot that an underactuated robot relying on excitation combined with other control methods can not achieve complete the action of catching the target rod, we firstly propose concept of research of big damping nonholonomic constraint in underactuated robot and control strategy of stably grasping target rod, design the gripper dedicated to this kind of robot, which can grasp the rod constitutes a big damping nonholonomic constraint state, and propose the control strategy of using rapidly swing up combined with turn back feedback control for the underactuated robot stable grasping rod motion. The corresponding controller is designed, and the robot simulation model is established using ADAMS and MATLAB software. The simulation achieves reliable grasping rod motion control of the robot, and the experimental results verify the driving ability of each joint of the robot and the effectiveness of the proposed control strategy. |
| Key words: underactuated robot motion control parametric excitation big damping nonholonomic constraint |
