论文标题
基于投影矩阵公式的受约束多体系统的运动控制和模拟
Control and Simulation of Motion of Constrained Multibody Systems Based on Projection Matrix Formulation
论文作者
论文摘要
本文提出了一种统一的方法，用于逆向和直接动态的受约束多体系统的逆动力学，可以作为分析，仿真和控制的基础。该动态公式的主要优点是它不需要约束方程线性独立。因此，即使在存在冗余约束或奇异配置的情况下，也可以进行仿真，并且每当机械系统更改其拓扑或自由度数时，控制器就不需要更改其结构。提出了基于预计的反动力学方案的运动控制方案，该方案被证明是稳定的，并最大程度地减少了驱动力的加权欧几里得规范。基于投影的控制方案将进一步为约束系统，例如平行操纵器，有一些没有执行器的关节（被动关节）。这与控制力控制的发展相辅相成。分析得出的惯性基质的条件是分析得出的，从而简化了力控制的实现。
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does not require the constraint equations to be linearly independent. Thus, a simulation may proceed even in the presence of redundant constraints or singular configurations and a controller does not need to change its structure whenever the mechanical system changes its topology or number of degrees of freedom. A motion control scheme is proposed based on a projected inverse-dynamics scheme which proves to be stable and minimizes the weighted Euclidean norm of the actuation force. The projection-based control scheme is further developed for constrained systems, e.g. parallel manipulators, which have some joints with no actuators (passive joints). This is complemented by the development of constraint force control. A condition on the inertia matrix resulting in a decoupled mechanical system is analytically derived which simplifies the implementation of the force control.
