欠驱动机械臂的光滑时变指数稳定

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2007, Vol. 28 ›› Issue (3): 751-756.

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Smooth Time varying Exponential Stabilization of Underactuated Manipulators

HE Guang-ping¹,LU Zhen²,TAN Xiao-lan¹

1 School of Mechanical and Electrical Engineering, North China University of Technology 2School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics

Received:2006-05-11 Revised:2006-08-13 Online:2007-05-10 Published:2007-05-10
Contact: HE Guangping¹

Abstract

Abstract:

The motion planning and control of underactuated manipulator are studied. From point of view of second order nonholonomic system, based on the extension theory of Lie Algebra, a new extension based on smooth trigonometrical polynomial is proposed, and a exponentially stable control method is verified for a class of underactuated manipulator with actuated joints not less than the passive ones. A 2R and a 3R underactuated planar manipulators with one unactuated joint respectively are simulated to show some aspects of the research.

Key words: underactuated, , manipulator, , nonholonomic, , exponential , stabilization, , Lie , Algebra

CLC Number:

TP242

HE Guang-ping;LU Zhen;TAN Xiao-lan. Smooth Time varying Exponential Stabilization of Underactuated Manipulators[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2007, 28(3): 751-756.

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Smooth Time varying Exponential Stabilization of Underactuated Manipulators

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