CAJ | 학술논문

引入动态伺服理论研究了欠驱动双摆机器人的仿生悬摆运动控制.针对欠驱动双摆机器人的仿生悬摆运动控制,引入动态伺服理论解决摆臂末端对目标轨迹的跟踪问题;利用灵长类动物悬摆运动的类单摆特性,基于李亚普诺大稳定性理论设计了反馈控制律,并分析了闭环系统的奇点及其对于系统收敛性的影响.欠驱动双摆机器人实物系统实验结果表明,文中所设计的控制策略是有效的.
인입동태사복이론연구료흠구동쌍파궤기인적방생현파운동공제.침대흠구동쌍파궤기인적방생현파운동공제,인입동태사복이론해결파비말단대목표궤적적근종문제;이용령장류동물현파운동적류단파특성,기우리아보낙대은정성이론설계료반궤공제률,병분석료폐배계통적기점급기대우계통수렴성적영향.흠구동쌍파궤기인실물계통실험결과표명,문중소설계적공제책략시유효적.
With dynamical servo control theory introduced, life-like brachiation control of underactuated two-link robot is studied. For the life-like brachiation control of underactuated two-link robot, the dynamical servo theory is introduced to solve the problem of tracking a given trajectory by the terminal of swing arm. According to the pendulum-like features of primate's brachiation, a feedback control law is designed based on Lyapunov stability theory, and then the singular point in the closed loop system and their influence on the system's convergence ability are analyzed. The experiment results on a physical underactuated two-link robot show the effectiveness of the designed control strategy.