空间自动化技术研究室知识库

针对一种双臂巡检机器人单臂挂线越障时的动态稳定问题,提出了一种质心调整策略。在分析机器人越障过程的基础上,建立了机器人单臂挂线时的动力学模型,设计了一种状态反馈控制器。提出以过渡时间最短为目标规划关节变量,设定机器人倾角和两臂间距为控制目标,实时调节各关节运动,通过控制调整机器人质心位置实现机器人越障时的稳定运动。仿真和实验证明了所提质心调整策略的可行性。

Aiming at the dynamic stability for a dual arm inspection robot when it is hung by single arm, this paper presents a centroid adjustment strategy. Analyzing the obstacle negotiating process of the robot, the kinetic model when the robot is hung by single arm is built and a state⁃feedback controller based on the robot model is presented. This paper discusses the planning method for joints based on best time, achieves the dynamically stable movement by regulating joint variables and adjusting the centroid of the robot. The experimental results show that the centroid adjustment strategy mentioned above is feasible.