CAJ | 학술논문

提出了一种柔性双轮甲衡机器人,其机身具有以一段弹簧作为弹性阻尼的被动俯仰旋转关节.运用拉格朗日方法建立了此机器人在平面运动的动力学模型.基于此模型,首先证明了柔性双轮平衡机器人在直立平衡点不稳定和局部可控.其次,分析丫关节刚度对线性二次型最优姿态平衡控制系统的影响.结果显示,关节刚度减小在理论上能够加强系统的鲁棒性,却使得控制系统动态性能下降.本文提出的模型及相关分析为柔性双轮平衡机器人的设计和控制提供了一定理论依据.
제출료일충유성쌍륜갑형궤기인,기궤신구유이일단탄황작위탄성조니적피동부앙선전관절.운용랍격랑일방법건립료차궤기인재평면운동적동역학모형.기우차모형,수선증명료유성쌍륜평형궤기인재직립평형점불은정화국부가공.기차,분석아관절강도대선성이차형최우자태평형공제계통적영향.결과현시,관절강도감소재이론상능구가강계통적로봉성,각사득공제계통동태성능하강.본문제출적모형급상관분석위유성쌍륜평형궤기인적설계화공제제공료일정이론의거.
This paper presents a kind of FTWBR (flexible two-wheeled balancing robot). Its main body has a passive pitch-joint which contains a spring as elastic damping. The Lagrange approach is used to formulate the dynamic model of the robot moving in plane. Based on the model, it is proved firstly that FTWBR is unstable and locally controllable at upright equilibrium state. Secondly, the impact of joint-stiffness on the linear quadratic optimal posture balancing control system is analyzed. The result demonstrates that the decrease of the joint-stiffness will improve the robustness of the control system theoretically, but it degrades the dynamic performance of the control system. The proposed dynamic model and the analysis provide some theoretical basis for designing and controlling FTWBR.