航空学报 > 2004, Vol. 25 Issue (5): 520-524

平面三连杆欠驱动机械臂谐波函数控制方法

何广平1, 陆震2, 王凤翔1   

  1. 1. 北方工业大学机电工程学院, 北京 100041;2. 北京航空航天大学自动化学院, 北京 100083
  • 收稿日期:2003-08-21 修回日期:2003-10-31 出版日期:2004-10-25 发布日期:2004-10-25

Harmonic Function Control of Planar 3-DOF Under-actuated Manipulators

HE Guang-ping1, LU Zhen2, WANG Feng-xiang1   

  1. 1. Department of Mechanical Engineering, North China University of Technology, Beijing 100041, China;2. Department of Automation Control, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2003-08-21 Revised:2003-10-31 Online:2004-10-25 Published:2004-10-25

摘要: 对一种平面三连杆欠驱动机械臂的稳态周期运动进行了理论分析和计算仿真,发现对于确定的欠驱动机器人系统,给系统中的主动关节施加合适的控制,被动关节出现一种"螺旋运动",而且螺旋运动速度与输入振幅和频率有关。在此基础上提出两种欠驱动机械臂位置控制的谐波函数控制方法,通过仿真验证了这种控制方法的有效性。

关键词: 机械臂, 欠驱动, 谐波函数, 动力学, 控制

Abstract: The dynamic analyzing, simulating and position control of 3-DOF under-actuated manipulator under harmonic function input are investigated. Under some harmonic inputs, a kind of helical motion occurs in the passive joints and the moving speed of the helical center is decided by the frequency and amplitude of the inputs. Based on the dynamic analyzing two kinds of harmonic input control methods are suggested. The simulation results on the 3-DOF under actuated manipulator verify that the methods suggested are valid.

Key words: manipulator, under-actuated, harmonic function, dynamics, control