通过平台控制实现对双连杆机器人的间接运动引导
Dynamic Coupling and Indirect Control of Jointed Robots Rolling Atop A Moving Platform
- 利用平台运动间接控制机器人关节，实现非直接驱动下的轨迹跟踪
- 平台加速度可使机器人沿指定路径持续移动或绕定点循环
- 适用于需要远程操控且无直接关节驱动的柔性机器人系统
一个由轮子支撑在平面上、可自由滚动与转向但不横向滑移的非对称双连杆机器人，若内部驱动关节角振荡，将产生类似鱼类游动的波状前进运动。当两个此类机器人共用一个具有自身惯性动力学的可平动平台时，两机器人的运动相互耦合，彼此影响。本文建立该系统的数学模型并进行仿真验证。进一步研究单个机器人带一个被动关节、在受控移动平台上运行的情形，证明平台的驱动足以决定机器人行为。具体而言，以平台加速度作为输入，可使机器人的朝向跟踪任意时间函数，从而确保其能绕平台上的固定点旋转或持续朝指定方向运动。
原文摘要 · Abstract (English)
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in the joint angle will generate undulatory locomotion suggesting fishlike swimming. If two such robots surmount a common platform that's free to translate with its own inertial dynamics, then the individual robots' dynamics will be coupled so that the locomotion of either robot is affected by that of the other. We develop a mathematical model for this system and present simulations demonstrating its behavior. We then consider a single robot with an unactuated joint rolling atop a platform that moves under control, and show that actuation of the platform is sufficient to dictate the robot's behavior. In particular, with the acceleration of the platform as an input, the robot's heading can be made to track a chosen function of time. This is sufficient to guarantee that the robot can be induced to orbit a fixed point on the platform or to locomote persistently in a desired direction.
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