【作者】 王恒； 彭志宇； 忻欣； 刘延年；

【Author】 Heng Wang;Zhiyu Peng;Xin Xin;Yannian Liu;School of Automation, Southeast University;Faculty of Computer Science and Systems Engineering, Okayama Prefectural University;

【机构】 东南大学自动化学院； 冈山县立大学计算机科学与系统工程学院；

【摘要】 本文基于轨迹规划方法研究了吊环机器人的起摆控制问题。吊环机器人是一个在垂直平面内运动的三连杆系统,其中第一、二关节为欠驱动关节,第三关节为驱动关节。吊环机器人是体操运动员进行吊环运动的简化模型。首先,本文使用直接分配法完成吊环机器人从悬垂向下平衡点摆上至两个期望平衡点的轨迹规划任务。其次,通过跟踪规划后的驱动关节的轨迹,使得吊环机器人能够沿着设定轨迹到达期望平衡点附近。最后,当吊环机器人到达期望平衡点附近后,使用镇定控制器将其稳定于平衡点,从而实现了吊环机器人的摆上控制任务。更多还原

【Abstract】 In this paper, the swing-up control of the rings gymnastic robot is studied based on the trajectory planning method. The rings gymnastic robot is a three-link robot moving in the vertical plane,with the first and second joints being passive and the third joint being active. Firstly, this paper uses the Direct Collocation method to complete the trajectory planning task of the rings gymnastic robot from the downward equilibrium point to two desired equilibrium points. Secondly,to drive the rings gymnastic robot to a neighborhood of each of the desired equilibrium points, we design a control input to track. the planned trajectory of the active joint. Finally, when the rings gymnastic robot reaches the neighborhood of each desired equilibrium point, we stabilize it at that point by a stabilizing controller.更多还原