| Research of the biomimetics robot is starting from bionics; the design principle is extracting the reserve of the organism. Including the excellent kinematics, histological, morphological characteristics deposited by biological evolution and the effect of their combination, and the corresponding structure, shape, organization and information transmission methods are reproduced through the mechanical, electronic, chemical, or some other modern technological methods in certain specific circumstances. Bio-Primates robot is a special kind of bio-robot system, and the control of its brachiation locomotion is becoming the challenging focus in bionic control research area. Bio-Primates robot's"Brachiation Control"contains non-linear control, functional bionic, physical simulation, and many other challenging problems. It is of great significance for human beings to learn from nature, and it can expand the human beings'influence or the capbility in exploring the unknown area. This dissertation is devoted to research on nonlinear control strategy of"Brachiation"of Bio-Primates robot, which is supported by the fund of the National Natural Science Foundation of China"The bio-brachiation of Bio-Primates robot and its control strategy"which is focusing on the process of two-dimensional, three-dimensional bio-brachiation, dynamical bio-brachiation, ricochetal brachiate and some other issues.Based on the Euler-Lagrange equation for mechanical control system, the important classes of mechanical control systems are discussed, they are fully-actuated mechanical system, underactuated mechanical system, and nonholonomic mechanical system. Then, by analyzing the brachiation locomotion of primates, the dynamical model of underactuated two-arm brachiation robot of two-dimensional (2D) and three-dimensional (3D) are derived by using Lagrange's equation.According to the 2D bio-brachiation of two-arm brachiation robot, a control strategy based on Sliding Mode Control (SMC) is obtained. Aiming at sovling the problem of tracking of the dynamical changing brachiation target, a dynamical brachiation control strategy which based on dynamical servo control is introduced, and the whole plane bio-brachiation is achieved. Based on the theory of dynamical servo, SMC based bio-brachiation controller and energy based bio-brachiation controller are proposed. Simulation results show the effectiveness of proposed control strategy.According to 3D bio-brachiation, by analyzing the composition of primate's wrist and acquires the simplest kinetic model of 3D 2-arm brachiation robot. Based on the Auto Disturbances Rejection Controller (ADRC) and dynamical servo control strategy, the control strategy of 3D 2-arm bio-brachiation robot is proposed. According to the ricochetal brachiate, based on the law of conservation of angular momentum, the leaping manuver control strategy is achieved. It considers the ricochetal brachiate target, the planning system, and the posture and body rotation in air. Based on the analysis methods of inverse kinematics, the take-off time position and posture are obtained. Based on hierarchical sliding mode control theory, the posture control strategy before take-off is proposed.Finally, this dissertation focus on control design and experiment implement of a physical 2-arm bio-brachiation robot system. In order to obtain the physical parameters of the physical system, the Kalman filter approach is used to identify the system's parameters. The ADAMS-MATLAB virtual reality simulation technology is used to verify the validity of the proposed control strategy, and the control experiments of dynamical bio-brachiation and normal bio-brachiation are implented on the robot system. The experimental results show that the proposed dynamical servo control scheme is effective in achieving the whole plane bio-brachiation motion of the 2-arm Bio-Primates robot.
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