CAJ | 학술논문

针对一种双臂巡检机器人单臂挂线越障时的动态稳定问题，提出了一种质心调整策略。在分析机器人越障过程的基础上，建立了机器人单臂挂线时的动力学模型，设计了一种状态反馈控制器。提出以过渡时间最短为目标规划关节变量，设定机器人倾角和两臂间距为控制目标，实时调节各关节运动，通过控制调整机器人质心位置实现机器人越障时的稳定运动。仿真和实验证明了所提质心调整策略的可行性。
침대일충쌍비순검궤기인단비괘선월장시적동태은정문제，제출료일충질심조정책략。재분석궤기인월장과정적기출상，건립료궤기인단비괘선시적동역학모형，설계료일충상태반궤공제기。제출이과도시간최단위목표규화관절변량，설정궤기인경각화량비간거위공제목표，실시조절각관절운동，통과공제조정궤기인질심위치실현궤기인월장시적은정운동。방진화실험증명료소제질심조정책략적가행성。
In this paper, a centroid adjustment strategy is presented for solving the dynamic stability problem for a du?al arm inspection robot when it is hung by single arm. Based on analysis of the obstacle crossing process of the robot, a kinetic model is established when the robot is hung by a single arm and a state?feedback controller based on the ro?bot model is presented. This paper also discusses the planning method for the variable of joints based on shortest tran?sition time, achieving the dynamically stable movement by regulating joint variables in time and adjusting the centroid of the robot. The simulation and experimental results showed that the centroid adjustment strategy is feasible.