摘要
研究跳跃机器人起跑规划问题,针对仿蛙跳跃机器人在起跳过程中脚掌与地面之间形成的欠驱动约束和特定的起跳任务,为提高系统性能,提出了一种在任务空间内实现给定起跳任务要求的路径运动规划控制。利用部分反馈线性化(PFL)将仿蛙跳跃机器人系统起跳动力学方程中的非线性部分线性化,设计了滑模变结构控制器对仿蛙跳跃机器人在起跳阶段的质心轨迹进行跟踪控制。结果表明滑模控制器能够使质心轨迹精确地跟踪给定轨迹,解决了仿蛙跳跃机器人的起跳任务优化控制问题,验证了提出的任务空间控制方法用于仿蛙跳跃机器人起跳任务规划的可行性。
Considering the passive constraint between feet and ground in take-off process and the specific take-off mission of bionic frog jump robot system,a method of take-off task planning and control for a scheduled take-off mission in task space was proposed.Partial feedback linearization（PFL） was used to deal with the nonlinear part of take -off dynamics equation of the bionic frog jump robot system,and a sliding mode controller was built for trajectory tracking control of the center of mass during the take-off stage.The results show that the sliding mode controller can make centroid trajectory accurately track the given values,so that the problem of take-off task planning for bionic frog jumping robot was solved,and the feasibility verifies that the proposed task space control method can bee used for take-off task planning of bionic frog jumping robot.
出处
《计算机仿真》
CSCD
北大核心
2013年第7期341-344,共4页
Computer Simulation
基金
国家自然科学基金资助项目(51175099)
关键词
仿蛙跳跃机器人
起跳任务规划
任务空间控制
部分反馈线性化
Bionic frog jumping robot
Take-off task planning
Task space control
Partial feedback linearization（PFL）
