CAJ | 학술논문

为了使 Acrobot（Acrobat 类型的单腿机器人）在运动过程中相对地面没有滑动，设计了基于接触力控制的姿态控制系统，将水平方向接触力作为内环的控制对象并限制其大小，使其总能满足摩擦锥的约束，从而保证在小腿姿态角的跟踪过程中足与地面间不会产生滑动。在 Acrobot 的直立姿态处，对其动力学方程进行线性化，并得到驱动力矩—水平接触力—质心水平位置—小腿姿态角的传递函数链，进而设计小腿姿态角的多环控制系统。在 MATLAB 中用“SimMechanics”工具箱搭建了 Acrobot 的虚拟模型，仿真结果表明，所设计的多环控制系统在实现小腿姿态角跟踪控制的同时还能保证足与地面间不产生滑动。
위료사 Acrobot（Acrobat 류형적단퇴궤기인）재운동과정중상대지면몰유활동，설계료기우접촉력공제적자태공제계통，장수평방향접촉력작위내배적공제대상병한제기대소，사기총능만족마찰추적약속，종이보증재소퇴자태각적근종과정중족여지면간불회산생활동。재 Acrobot 적직립자태처，대기동역학방정진행선성화，병득도구동력구—수평접촉력—질심수평위치—소퇴자태각적전체함수련，진이설계소퇴자태각적다배공제계통。재 MATLAB 중용“SimMechanics”공구상탑건료 Acrobot 적허의모형，방진결과표명，소설계적다배공제계통재실현소퇴자태각근종공제적동시환능보증족여지면간불산생활동。
A posture control system based on the controlled contact force was designed to ensure there is no slipping between the foot of Acrobot(acrobatic single-leg robot)and the ground during motion.The horizontal component of the contact force was set as the control objective of the internal loop and its value was restricted by the friction cone,so that the contact consistency between foot and ground at the tracking process of the shank′s posture angle was preserved.At the upright equilibrium posture of Acrobot,the dynamic equations were linearized and the transfer function link “actuation torque-horizontal contact force-horizontal position of the center of mass-posture angle of the shank”was derived to design the multi-loop control system for the posture angle of the shank.A virtual Acrobot model was built in MATLAB by using the “SimMechanics”toolbox.Simulation results show that the designed control system can realize the tracking control without slipping between the foot and the ground.