用单杆机器人实现摆荡跳跃，通过质心移动控制运动
Single-Rod Brachiation Robot: Mechatronic Control Design and Validation of Prejump Phases
- 用曲柄滑块机构移动质心，实现摆荡控制
- 连续控制策略提升能量积累，为跳跃阶段做准备
- 低成本嵌入式系统实测验证摆荡与旋转动作
本文提出一种最小配置的单杆摆荡机器人机电一体化设计。机器人由一根刚性杆及两端夹持装置构成，通过夹持水平横杆进行摆荡或旋转运动。运动由曲柄滑块机构实现质心重新定位来驱动。基于非线性模型，提出一种爆破式（bang-bang）最优控制策略；进一步结合输入-输出线性化，设计出考虑曲柄滑块机构有限扭矩与几何约束的连续控制策略，重点优化后续跳跃阶段的能量积累。两种策略在仿真中对比验证，连续控制策略随后在低成本STM32控制系统上实现，并成功实验验证了摆荡与旋转阶段的运动行为。
原文摘要 · Abstract (English)
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used to hang the robot on a horizontal bar on which it swings or rotates. The motion is imposed by repositioning the robot's center of mass, which is performed using a crank-slide mechanism. Based on a non-linear model, an optimal control strategy is proposed, for repositioning the center of mass in a bang-bang manner. Consequently, utilizing the concept of input-output linearization, a continuous control strategy is proposed that takes into account the limited torque of the crank-slide mechanism and its geometry. An increased attention is paid to energy accumulation towards the subsequent jump stage of the brachiation. These two strategies are validated and compared in simulations. The continuous control strategy is then also implemented within a low-cost STM32-based control system, and both the swing and rotation stages of the brachiation motion are experimentally validated.
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