欠驱动单杠体操机器人研究综述幻灯片.pdfVIP

Dynamical Systems and Control 动力系统与控制, 2016, 5(2), 48-60 Published Online April 2016 in Hans. /journal/dsc /10.12677/dsc.2016.52006 A Survey on Research of the Underactuated Horizontal Bar Gymnastic Robot Dasheng Liu, Guozheng Yan Institute of Medical Precision Engineering and Intelligent System, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai th nd th Received: Mar. 25 , 2016; accepted: Apr. 22 , 2016; published: Apr. 25 , 2016 Copyright © 2016 by authors and Hans Publishers Inc. This work is licensed under the Creative Commons Attribution International License (CC BY). /licenses/by/4.0/ Abstract The gymnastic robot is a nonlinear, strongly coupled, multi-state underactuated system and be- longs to the natural unstable systems in the stable region. This kind of system can reflect the key problems of many control areas, and a lot of scholars have devoted themselves to the research of controlling the gymnastic robot. This paper reviews the domestic and foreign research on the ho- rizontal bar gymnastic robot. In the paper, the relevant theories and methods of the research on the dynamic modeling and motion control of the gymnastic robot are analyzed and discussed, the control on the swing up, balance, acceleration and giant-swing motion movement of the gymnastic robot is analyzed in detail, furthermore, the existing problems are discussed, and the development trend in the future is prospected. Keywords Gymnastic Robot, Underactuated, Control Strategy, Nonlinear System 欠驱动单杠体操机器人研究综述 刘大生，颜国正 上海交通大学电子信息与电气工程学院医学精密工程及智能系统研究所，上海 收稿日期：2016年3月25 日；录用日期：2016年4月22 日；发布日期：2016年4月25 日 文章引用: 刘大生, 颜国正. 欠驱动单杠体操机器人研