Variable structure control applied to underactuated robots

被引：25

作者：

Lee, K ^{[1
]}

Coates, S ^{[1
]}

CoverstoneCarroll, V ^{[1
]}

机构：

[1] UNIV ILLINOIS, DEPT AERONAUT & ASTRONAUT ENGN, TALBOT LAB 305A, URBANA, IL 61801 USA

来源：

ROBOTICA | 1997年 / 15卷

关键词：

underactuated robots; variable structure control; robots;

D O I：

10.1017/S0263574797000350

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Variable structure control is applied to an underactuated two and three-link robot. Control laws are developed to invert the robot from its stable, downward equilibrium position to an inverted position. This maneuver is accomplished by pumping energy into the system with the variable structure controller. A linear balancing controller is activated once the robot nears the inverted position. Numerical simulations are presented for both the two and three-link robot.

引用

页码：313 / 318

页数：6

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