共查询到20条相似文献,搜索用时 156 毫秒
1.
2.
旋转双摆系统由一个单电机驱动的旋转臂和两根安装在旋转臂上的未驱动的旋转摆杆组成,是典型的欠驱动系统,模糊控制设计的目的是将两根摆杆稳定在倒立位置的同时将旋转臂控制到原点.首先,基于拉格朗日方程获得系统的非线性动力学模型,进而给出其在不稳定平衡点附近的线性化模型.在进行模糊控制器的设计过程中,由于旋转双摆系统有6个状态变... 相似文献
3.
4.
5.
双摆机器人两摆杆具有一个自稳定(Down-down)和三个自不稳定(Down-up, up-down, up-up)的平衡状态, 4个平衡状态之间可以构成12个相互转换的运动动作和8个自旋动作. 本文运用基于动觉智能图式的仿人智能控制理论, 设计具有基于特征辨识多控制模态结构的控制器; 采用``类等效'的系统建模方法和改进型遗传算法, 实现双摆机器人模型的精确辨识和其多模态控制器多参数的整定与优化, 并解决了多控制模态之间的平滑切换, 以及从仿真研究到实时控制成功的快速过渡等关键问题. 以(Down-up)向(Up-down)状态的转换为例, 说明了如何实现四个平衡状态之间的任意相互转换的运动控制, 并介绍了仿人智能控制器设计的详细过程. 仿真与实时控制的实例证明了设计理论与方法的有效性. 相似文献
6.
为解决非线性双摆型塔式起重机欠驱动系统负载两级摆动幅值大、定位精度不高、抗干扰能力差的问题,基于能量强耦合的分析方法研究了塔式起重机转臂转动与两级摆角摆动之间的耦合关系,设计了一种防摆控制器,并通过李雅普诺夫方法和拉萨尔不变性原理证明了系统的稳定性。仿真实验结果表明,与其他应用广泛的控制方法相比,所提控制策略明显提升了负载的运送效率,有效地抑制了负载的两级摆角,消除了残余摆角,并且控制驱动力矩不会对系统造成冲击;在系统参数、目标位置变化和加入综合性外界干扰时,控制器具有优良的鲁棒性。所提控制策略具有良好的适应性和控制性能。 相似文献
7.
8.
9.
10.
11.
12.
《Annual Reviews in Control》2004,28(2):137-155
We introduce two types of dexterous locomotion robots and their controller design approaches. One is a simplified two-link robot “Brachiator II”. This is an example of an underactuated system where a robot mechanism has higher degrees of freedom than actuators. The desired motions are encoded as the output of a target dynamical system inspired by the pendulum-link motion of an ape's brachiation. The other is a monkey-type robot “Brachiator III” which achieves a more dexterous motion with 13 degrees of freedom. The desired motion is generated in an empirical learning process by a learning algorithm and an intelligent structure, in which the learning algorithm adjusts the coordination levels of some primitive motions in order to generate the desired motion. This is an example of a redundant mechanism. We discuss the advantages of these two design approaches. 相似文献
13.
This article introduces a multi locomotion robot, MLR III, which has multiple locomotion types, i.e., not only brachiating but also walking. Conventionally we have studied dexterous locomotion robots and their controller design. One is a simplified two-link robot, Brachiator II. This is an example of an underactuated system in which a robot mechanism has more degrees of freedom than actuators. The desired motions are encoded as the output of a target dynamical system inspired by the pendulum-link motion of an apes brachiation. The other is a monkey-type robot, Brachiator III. Brachiator III achieves a dexterous motion using redundant degrees of freedom. The motion is generated in an empirical learning process on an intelligent structure, on which the learning algorithm coordinates some primitive motions to generate the desired motion. MLR III is an extended locomotion robot that has multiple types of locomotions: brachiation, bipedal walking, and quadrupedal walking, similar to a monkey or gorilla. This article introduces the mechanism and controller design for brachiating motion.This work was presented, in part, at the 8th International Symposium on Artificial Life and Robitics, Oita, Japan, January 24–26, 2003 相似文献
14.
针对自由漂浮柔性空间机器人轨迹跟踪控制问题, 首先利用拉格朗日和假设模态法建立了动力学模型. 分析系统动力学模型, 综合考虑欠驱动、柔性振动等特点, 将其简化为一种带有柔性振动扰动完全可控的动力学模型; 在此基础上, 考虑控制输入受限, 提出一种自适应状态反馈控制策略. 该策略采用自适应技术实时在线学习柔性振动扰动参数, 从而保证控制律对柔性振动扰动具有良好的鲁棒性; 最后, 基于Lyapunov方法证明了该控制策略能够实现关节期望轨迹的跟踪. 仿真验证了该控制策略对控制输入受限系统轨迹跟踪控制的有效性和可靠性. 相似文献
15.
JU-JANG LEE 《International journal of systems science》2013,44(11):1113-1121
This paper introduces a robust adaptive control scheme for an underactuated free-flying space robot under non-holonomic constraints. An underactuated robot manipulator is defined as a robot that has fewer joint actuators than the number of total joints. Because, if one of the joints is out of order, it is so hard to repair the joint, especially in space, the control of such a robot manipulator is important. However, it is difficult to control an underactuated robot manipulator because of the reduced dimension of the input space, i.e. the non-holonomic structure of the underactuated system. The proposed scheme does not need to assume that the exact dynamic parameters must be known. It is analysed in joint space to control the underactuated robot mounted on the space station under parametric uncertainties and external disturbances. The simulation results have shown that the proposed method is very feasible and robust for a two-link planar free-flying space robot with one passive joint. 相似文献
16.
17.
Energy based control of the Pendubot 总被引:2,自引:0,他引:2
This paper presents the control of an underactuated two-link robot called the Pendubot. We propose a controller for swinging the linkage and raise it to its uppermost unstable equilibrium position. The balancing control is based on an energy approach and the passivity properties of the system 相似文献
18.
L. Freidovich Author Vitae A. Robertsson Author Vitae A. Shiriaev Author Vitae R. Johansson Author Vitae 《Automatica》2008,44(3):785-791
This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the Pendubot, which is not directly actuated. We exploit a recently proposed feedback control design strategy, based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions. The theoretical results are verified via successful experimental implementation. 相似文献
19.
多数视觉伺服研究中,不考虑机器人的动力学特性,把机器人当作一个理想定位设备。本文考虑其动力学特性,采用基于FNN和CMAC控制器方法,实现了机器人对目标运动的跟踪。并对一个二连杆视觉伺服系统进行了仿真,仿真结果说明了算法的有效性。较好的解决视觉伺服控制中的定位精度难点,改进机器人的视觉控制算法,达到精确、非线性的鲁棒控制。 相似文献