用离散虚拟约束实现魔杖平面杂耍的稳定控制。
Planar Juggling of a Devil-Stick using Discrete VHCs
- 通过离散时刻的虚拟约束设计控制策略。
- 构建离散零动态确保魔杖杂耍稳定运行。
- 适合机器人抓取与周期运动控制研究者参考。
本文针对施加脉冲控制输入的魔杖平面杂耍问题，采用离散虚拟约束（Discrete Virtual Holonomic Constraints, DVHC）方法。在脉冲控制作用的离散时刻，以魔杖姿态定义其质心位置。所选DVHC产生的离散零动态（DZD）提供了稳定杂耍的条件。文中提出一种强制实施DVHC并实现轨道稳定的控制器，并在仿真中验证了该方法的有效性。
原文摘要 · Abstract (English)
Planar juggling of a devil-stick using impulsive inputs is addressed using the concept of discrete virtual holonomic constraints (DVHC). The location of the center-of-mass of the devil-stick is specified in terms of its orientation at the discrete instants when impulsive control inputs are applied. The discrete zero dynamics (DZD) resulting from the choice of DVHC provides conditions for stable juggling. A control design that enforces the DVHC and an orbit stabilizing controller are presented. The approach is validated in simulation.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。