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基于后推技术的绳驱动拟人肩关节动力学控制

游贤强 陈伟海 崔翔 于守谦

游贤强, 陈伟海, 崔翔, 等 . 基于后推技术的绳驱动拟人肩关节动力学控制[J]. 北京航空航天大学学报, 2012, 38(12): 1671-1675.
引用本文: 游贤强, 陈伟海, 崔翔, 等 . 基于后推技术的绳驱动拟人肩关节动力学控制[J]. 北京航空航天大学学报, 2012, 38(12): 1671-1675.
You Xianqiang, Chen Weihai, Cui Xiang, et al. Dynamic control of a cable-driven humanoid-shoulder joint based on backstepping technique[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(12): 1671-1675. (in Chinese)
Citation: You Xianqiang, Chen Weihai, Cui Xiang, et al. Dynamic control of a cable-driven humanoid-shoulder joint based on backstepping technique[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(12): 1671-1675. (in Chinese)

基于后推技术的绳驱动拟人肩关节动力学控制

基金项目: 国家自然科学基金资助项目(50875011,50975017)
详细信息
  • 中图分类号: TP 242

Dynamic control of a cable-driven humanoid-shoulder joint based on backstepping technique

  • 摘要: 针对并联式绳驱动机器人建模困难、控制复杂等问题,采用拉格朗日动力学建模方法,推导得到便于控制器设计的标准动力学方程,考虑绳驱动的冗余特性和绳索的单方向受力性,提出基于最小预紧力的张力分配算法,求解出各绳索的驱动力.针对机器人轨迹跟踪控制问题,设计了基于后推技术的系统模型控制律.仿真结果表明:后推技术法在收敛速度方面明显优于计算力矩法,且各绳索的驱动力皆能满足其张紧所需的最小张力.

     

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出版历程
  • 收稿日期:  2011-08-29
  • 网络出版日期:  2012-12-30

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