对平面3R欠驱动机器人的轨迹跟踪控制问题进行了研究,该机器人有两个驱动关节和一个自由关节.利用拉格朗日方程建立了该机器人的动力学模型.依据该动力学模型,分析了该类机器人的特点,并设计了一种模糊控制方法.控制系统根据模糊逻辑控制器输出量得到主动关节的控制力矩.利用主动关节和被动关节之间的动力学耦合作用,控制被动关节,以实现机器人末端的直线轨迹跟踪任务.采用该控制方法,对控制过程进行了数值仿真,结果表明该方法具有可行性.%A study of controlling the trajectory tracking of a 3R horizontal underactuated robot is investigated; the robot has two actuated joints and a free joint. The dynamic model of the robot is established with Lagrange equitation. Based on the dynamic model, the property of this kind of robot is analyzed; a fuzzy control method is designed. The control torque of the active joints is determined by the output parameters of fuzzy logic controller. Applying the dynamic coupling of the active joints and passive joint, the passive joint is controlled; the linear trajectory tracking of the robot is achieved. Using this control method, the course of controlling is simulated; the results show that the proposed method is effective.
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