【摘要】 欠驱动机器人是指控制输入少于系统自由度的一类机器人。由于系统中非完整约束的出现,可积性和可控性成为对欠驱动机器人进行有效控制首要关心的问题。该文分析了欠驱动机器人约束的可积性,综述了此类机器人系统的线性可控性,非线性可控性等其他分析方法的研究进展,并提出了欠驱动机器人控制进一步的研究方向。更多还原

【Abstract】 Underactuated robots are referred to as a class of mechanical system with less inputs than the degrees of freedom.Both integrability and controllability are very important factors for any underactuated robot system.They must be considered before the efficient control design because of the presence of the nonholonomic constraints.This paper analyses the integrability of constraints and the development of various controllability test methods including linear,nonlinear and constructive ones.The direction of further research is also presented.更多还原