建模并优化重型机械臂悬挂系统，提升移动稳定性与抗倾覆能力。
Mechanic Modeling and Nonlinear Optimal Control of Actively Articulated Suspension of Mobile Heavy-Duty Manipulators
- 基于螺旋理论构建双闭环机构模型，精确计算整机惯性参数。
- 通过非线性规划优化稳定指标，实现抗倾覆的最优运动轨迹。
- 适用于需要高精度稳定的重型移动机械臂，如矿山或救援机器人。
本文针对带主动关节悬架的移动重型机械臂，提出解析建模与最优控制方法，以最大化其静动态稳定性。采用螺旋理论形式化，将悬架机构视为由两个闭链组成的刚体多体系统，利用关联体惯性法，将整车空间惯性参数表示为悬架直线执行器位置的函数。该建模方法精确求解了机械臂质心与惯性张量，显著提升轮地反作用力计算精度。基于这些惯性参数和反作用力，定义静、动态稳定性指标，并构建非线性规划问题，优化生成防止平台倾覆的最优运动轨迹；该最优执行器位置通过状态反馈液压阀控制实现跟踪。通过仿真验证方法在C++环境下的高效性：针对一个7自由度的重型平行-串连式四轮移动机械臂，实现了计算速度、精度与性能的综合提升。
原文摘要 · Abstract (English)
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider the suspension mechanism as a rigid multibody composed of two closed kinematic chains. This mechanical modeling allows us to compute the spatial inertial parameters of the whole platform as a function of the suspension's linear actuators through the articulated-body inertia method. Our solution enhances the computation accuracy of the wheels' reaction normal forces by providing an exact solution for the center of mass and inertia tensor of the mobile manipulator. Moreover, these inertial parameters and the normal forces are used to define metrics of both static and dynamic stability of the mobile manipulator and formulate a nonlinear programming problem that optimizes such metrics to generate an optimal stability motion that prevents the platform's overturning, such optimal position of the actuator is tracked with a state-feedback hydraulic valve control. We demonstrate our method's efficiency in terms of C++ computational speed, accuracy and performance improvement by simulating a 7 degrees-of-freedom heavy-duty parallel-serial mobile manipulator with four wheels and actively articulated suspension.
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