机器人的摆动与平衡控制

Proceedings of the 41st SICE Annual Conference. SICE 2002. Pub Date : 2002-08-05 DOI:10.1109/SICE.2002.1195597

T. Kobayashi, T. Komine, S. Suzuki, M. Iwase, K. Furuta

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引用次数: 12

摘要

本文提出了两种控制策略，用于两连杆机器人的摆动和保持直立位置。一种是基于能量控制，另一种是基于线性反馈控制，通过分配闭环系统的极点使悬垂位置不稳定，使直立位置稳定。采用两种不同的线性反馈控制律对机器人在直立位置的摆动和平衡过程进行控制。通过仿真对所提出的策略进行了评价。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Swing-up and balancing control of acrobot

This paper proposes two kinds of control strategy for swinging-up and keeping a two-link acrobot at the upright position. One is based on energy control, and the other is based on a linear feedback control so that the poles of the closed-loop system are assigned to make the pendant position unstable and the upright position stable. Two different linear feedback control laws are used in the course of the swing-up and balancing of the acrobot at the upright position. The proposed strategies are evaluated by the simulation.

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Proceedings of the 41st SICE Annual Conference. SICE 2002.

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