机械科学与技术2017，Vol.36Issue(2)：165-171,7.DOI:10.13433/j.cnki.1003-8728.2017.0201
考虑驱动器特性的柔性弹跳机器人的轨迹跟踪控制
Trajectory Tracking Control of Compliant Hopping Robot Including Actuator Dynamics
摘要
Abstract
Aiming at the under-actuated problem and trajectory tracking control problem existed in hopping robot,the under-actuated bionic compliant hopping hybrid derived by motor and hydraulic cylinder is proposed.Firstly,the kinematical model of under-actuated compliant hopping robot is constructed.The angular motion of each joint is derived by using fifth order polynomial and the dynamic coupling between active joint and passive joint.Whether including the actuators,the motion of the center of mass is described.Secondly,the overall dynamic model including actuator dynamics is presented.The model can be controlled by using combination of partially feedback linearization and pole placement.Finally,the simulation result showed that compliant joints can improve the hopping capability and the proposed control method is feasible.关键词
弹跳机器人/轨迹跟踪/欠驱动/驱动器Key words
hopping robot/trajectory tracking/under-actuated/actuator分类
信息技术与安全科学引用本文复制引用
孟祥艳,葛文杰,谈效龙..考虑驱动器特性的柔性弹跳机器人的轨迹跟踪控制[J].机械科学与技术,2017,36(2):165-171,7.基金项目
教育部博士点基金项目(20136102130001)与国家自然科学基金项目(50975230)资助 （20136102130001）
