基于切换控制的平面PR欠驱动机器人稳定策略OA

The planar underactuated robot is mainly applied in the microgravity field such as deep sea and deep space.The system modeling and stability control of the planar underactuated robot are the prerequisite to ensure its successful completion of the task.The planar Prismatic-Rotational(PR)underactuated robot is one of the structures of the planar underactuated robot.A dynamic system model of the planar PR underactuated robot is established.According to the nilpotent approximation characteristic of this kind of robot system,an approximate model with similar characteristics to the original system is derived.At the same time,a two-stage switching control idea is proposed to realize the stability control.In the first stage,a suitable controller is designed to realize the position control of the actuated link.In the second stage,an open-loop iterative control strategy is designed based on the derived nilpotent approximate model to realize the stable control of the end points at different positions in the plane.The simulation results show that the proposed control strategy is effective.Compared with the five-order interpolation method,the stability time of the planar PR underactuated robot is reduced by 20%,the rotation quadrant of the underactuated connecting rod is expanded,and the proposed strategy has better robustness.