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研究了双层架构蒙皮检测机器人在切换运动方式下的动力学问题.首先分析了蒙皮检测机器人的结构和受力情况;然后建立了非完整约束方程,进而基于牛顿-欧拉法分别建立了蒙皮检测机器人内外框架两个子系统的动力学模型,并建立了双层架构状态空间表达式;最后设计了反步切换控制算法.通过仿真实验验证了切换控制算法的有效性和可行性.
The dynamics of the double-skinned skin detection robots under switched mode of motion is studied. Firstly, the structure and force of the skin detection robots are analyzed. Then, the nonholonomic constraint equations are established and then established based on Newton-Euler method The dynamic model of the two subsystems of inner and outer frames of the skin detection robot is established, and the state space expression of two-tier architecture is established. Finally, a backstepping control algorithm is designed, and the effectiveness and feasibility of the switching control algorithm are verified through simulation experiments.