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具有自由关节的平面机械臂系统是典型的欠驱动动力学系统,也是很复杂的非线性系统。控制这种系统已经成为机器人学和控制工程领域的一个主要焦点。本文应用平均方法分析欠驱动机械臂在高频微幅振动输入下的动力学响应行为。据此开发出一种可行的振动控制,控制过程为:首先将主动关节定位到其目标位置,后通过开发的振动控制方法将被动关节控制到目标位置,即通过不断修正主动关节振动输入的振幅来实现对被动关节的控制,振幅的修正通过平均方法分析确定。对平面2连杆欠驱动机械臂的控制仿真实例证明这种方法有效。
The planar articulated arm system with free joints is a typical underactuated dynamic system and a very complex non-linear system. Control of such systems has become a major focus in the field of robotics and control engineering. In this paper, the averaging method is used to analyze the dynamic response of underactuated manipulators under high-frequency micro-amplitude vibration input. According to this, a feasible vibration control is developed. The control process is as follows: Firstly, the active joint is positioned to its target position, and then the passive joint is controlled to the target position through the developed vibration control method, that is, by continuously correcting the amplitude of the active joint vibration input To achieve the control of the passive joints, amplitude correction by the average method to determine. The control simulation of planar 2-link under-actuated manipulator proves that this method is effective.