摘要
运动模式耦合和欠驱动动力学特性是实现灵长类仿生机器人悬臂飞跃的难点.针对运动模式耦合问题,本文通过建立灵长类仿生机器人分段运动模型,在运动学分析的基础上,结合目标约束条件和切换条件,提出了灵活完整的、适应不同飞跃距离的飞跃轨迹规划方法,以此获得系统飞跃的起始和终止姿态.针对欠驱动问题,采用基于虚约束的轨迹规划和跟踪控制方法来保证系统可以准确达到飞跃起始姿态.最后,搭建了悬臂飞跃仿真模型,仿真结果验证了轨迹规划和控制策略的有效性.
The tight coupling of locomotion and underactuated characteristics are the main difficulties for realizing ricochetal brachiation of a bio-primate robot. For the locomotion coupling, the segmented dynamic/kinematic models were built and analyzed. Then, a flexible, comprehensive and adaptive ricochetal brachiation motion planning algorithm was proposed in consideration of the constraint condition and switching condition. Therefore, pre- and post-flying postures were obtained. As to the underactuated characteristics, virtual- constraint-based trajectory planning and tracking control methods were adopted to ensure that the system could arrive at the pre-flying posture accurately. Finally, a ricochetal brachiation simulation model was built and the results show the effectiveness of the proposed trajectory planning and control strategy.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2017年第2期168-173,共6页
Journal of Northeastern University(Natural Science)
基金
国家自然科学基金资助项目(61503067)
辽宁省自然科学基金资助项目(20141016)
中央高校基本科研业务费专项资金资助项目(N150308001)
关键词
灵长类仿生机器人
轨迹规划
悬臂飞跃
虚约束
two-link bio-primate robot
trajectory planning
ricochetal brachiation
virtual constraint
