【摘要】：針對(duì)彈跳機(jī)器人存在的欠驅(qū)動(dòng)問(wèn)題以及軌跡跟蹤控制問(wèn)題,提出了電機(jī)和液壓混合驅(qū)動(dòng)的欠驅(qū)動(dòng)仿生柔性彈跳機(jī)器人系統(tǒng)。首先建立欠驅(qū)動(dòng)柔性彈跳機(jī)器人的運(yùn)動(dòng)學(xué)模型,通過(guò)5次多項(xiàng)式規(guī)劃、主動(dòng)關(guān)節(jié)和被動(dòng)關(guān)節(jié)的動(dòng)力學(xué)耦合關(guān)系得出各關(guān)節(jié)轉(zhuǎn)角的變化規(guī)律,然后比較了考慮驅(qū)動(dòng)器特性和不考慮驅(qū)動(dòng)器特性時(shí)質(zhì)心的運(yùn)動(dòng)規(guī)律。其次,建立考慮驅(qū)動(dòng)器特性的機(jī)器人完整動(dòng)力學(xué)模型,采用部分反饋線(xiàn)性化和極點(diǎn)配置相結(jié)合的方法對(duì)其進(jìn)行運(yùn)動(dòng)控制。最后,仿真證明柔性關(guān)節(jié)能提高機(jī)器人彈跳性能,提出的控制方法是可行的。
[Abstract]:Aiming at the problem of underactuation and trajectory tracking control of bouncing robot, a hybrid motor and hydraulic hybrid drive bionic flexible bouncing robot system is proposed. Firstly, the kinematics model of underactuated flexible bouncing robot is established. The dynamic coupling relationship between active and passive joints is obtained by polynomial programming of order 5. Then, the motion laws of the center of mass with and without the driver characteristics are compared. Secondly, the complete dynamic model of the robot with actuator characteristics is established, and the motion control of the robot is carried out by combining partial feedback linearization and pole assignment. Finally, the simulation results show that the flexible joint can improve the jumping performance of the robot, and the proposed control method is feasible.
【作者單位】： 西北工業(yè)大學(xué)機(jī)電學(xué)院;
【基金】：教育部博士點(diǎn)基金項(xiàng)目(20136102130001) 國(guó)家自然科學(xué)基金項(xiàng)目(50975230)資助
【分類(lèi)號(hào)】：TP242

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