灵长类仿生机器人运动控制研究

摘要

仿生机器人是仿生学的各种先进技术与机器人领域的各种应用目的的最佳结合。从机器人的角度来看,仿生机器人是机器人发展的最高阶段。从仿生学的角度来看,仿生机器人是仿生学技术的完美综合与全面应用。仿生技术是当今运动控制的前沿课题,而模仿灵长类的运动特性又是这一课题中的难点,本课题以此为背景引入——双摆式仿生长臂猿机器人。 根据长臂猿的生活习性及其运动特点,提出了双摆式仿生长臂猿机器人的基本原理及其控制目标。根据分析力学中的拉格朗日方程及其分析方法,依据长臂猿的体态特征建立了该仿生机器人的动力学模型。该模型的自由度多于其执行器,故其为一欠驱动系统模型并具有较强的非线性特征。针对该欠驱动仿生机器人目标控制的特点,即其控制目的并不是将其控制在其自身的某个平衡区域内而是通过对目标的判断来控制其运动过程,引入滑模变结构控制理论为其设计了运动控制器，强迫其按照目标线路运动。数字仿真表明该控制器可以很好的满足该仿生机器人的控制目标的需要,并具有一定的鲁棒性。

关键词：仿生机器人、欠驱动、仿真

heOn sStudy of biological primate robot movement control

ABSTRACT

Bionic-Robot is the best combination of each kind of vanguard technology and the domain robot application goal. Considered from the development of robot, the bionic-robot is the highest stage which the robot develops. Considered from the bionics angle that, Bionic-Robot is making full use of the bionics technology perfectly and comprehensively. The biological modeling technology is now the most popular task of the movement control, and the motion control research of primates bionic-robot is the difficult problem of the task. This topic takes this as the background and introduces one kind of biological modeling robot double pendulum type biological modeling gibbon robot. According to gibbon's habit and the characteristic of movement, this thesis proposed the control goal and the basic principle of the double pendulum type biological modeling gibbon robot .According to the analysis mechanics in Lagrange equation and the analysis method, this biological modeling robot dynamics model based on gibbon's carriage characteristic is established. This model degree of freedom is more than its actuator; therefore it owes the actuation system model and has the obvious non-linear characteristic. Due to the characteristic of the actuation biological modeling robot goal that its control goal is not is through controls it in some balanced region but control its rate process according to the goal judgment. The introduction slip form changes the structure control theory to design for it the movement controller. The digital simulation indicated this controller can satisfy the control goal need of this biological modeling robot, and has certain robustness.

Key words: Bionic-Robot, Underactuated Ssystem, Simulation

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