球形机器人的拉格朗日模型、仿真与控制

2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2013-12-02 DOI:10.1109/ICEEE.2013.6676019

Jakob Culebro, J. Aguirre, Stalin Muñoz

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引用次数: 4

摘要

通过使用欧拉-拉格朗日方程和对广义速度的附加约束，探讨了球面机器人不同构型的拉格朗日量的推导。自由度用旋转矩阵和线性位移向量指定，允许以程序方式确定所有模型的必要元素，并获得系统的动力学。将其中一个模型用于两种方法的简单速度控制试验，以旋转作动器的转矩和速度作为控制输入，对一个自由度的简化系统取得了成功的结果，对一般系统取得了满意的结果。

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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Lagrangian model, simulation and control of a spherical robot

The derivation of the Lagrangian for different configurations of spherical robots is explored through the use of the Euler Lagrange equations and additional constrains for the generalized velocities. The degrees of freedom are specified with rotation matrices and linear displacement vectors, allowing to determine the necessary elements for all the models in a procedural way, and to obtain the dynamics of the system. One of the thus obtained models is used for simple velocity control tests with two approaches, using the torque and velocity of the rotatory actuators as control inputs, with successful results for a simplified system with one degree of freedom, and satisfactory results for the general system.

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来源期刊

2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

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