摘要
根据系统的动力学模型,采用机构学中影响系数的概念,定义了主被动关节的动力学耦合度指标,并求解双臂在各指标下的最优运动位形区域。通过机器人三种主要运动任务的仿真验证了分析结果。最后结合耦合度分析和仿真结果的研究,对系统完成三种不同任务的双臂初始位形和平衡位置作了运动规划,使双臂在运动中力矩输出最小。
Based on dynamic model of the one-legged hopping robot, the dynamic coupling indices were defined with influence coefficient concept. The optimal configurations of two actuated arms were calculated for each dynamic coupling index. Three important motion task of the system were simulated in Matlab, the results show that the dynamic coupling analysis are correct. Based on the dynamic coupling analysis and the study on simulation results, motion planning of initial configurations and equilibrium points of two arms were studied for three motion task. After motion planning, the motor output torque of two actuated arms were minimum.
出处
《机械设计与制造》
北大核心
2008年第5期168-170,共3页
Machinery Design & Manufacture
基金
国家自然科学基金(50475177)
北京市自然科学基金(3062009)
北京市优秀人才培养基金资助项目(20051D500201)
关键词
跳跃机器人
影响系数
动力学耦合
运动规划
Hopping robot
Influence coefficient
Dynamic coupling
Motion planning
