The Intelligent Control Method Research Of The Three-link Gymnastic Robot On A Horizontal Bar

The horizontal bar gymnastic robot is a typical sample of underactuated MIMO (multi input-multi output) complex systems. The swing-up and balance movement of the horizontal bar gymnastic robot is great non-linear and complex with wide motive range. The control of the swing-up and balance motion of the horizontal bar gymnastic robot is a good test for the validity of control theories and control methods.Based on the analysis of the characteristics of gymnast's movement, a three-link gymnastic robot on horizontal bar with limited joint-torque and joint-angle is designed and its mathematic model is developed in this dissertation. With simulating the swing-up movement of a gymnast, a series swing-up and balance movement is also designed in this dissertation. By analyzing the characteristics of controlling this system, six phases are divided and the dividing terms are got under the thought of Sensory-Motor Intelligent Schemas based HSIC (human simulated intelligent control), the dividing terms are so-called time sequence programming schemas in the SMIS. In this dissertation the control strategy of the first three phases are designed and tested validity through simulation.Though this subject, it is proved that it's a new and effective way that combine the schema theory with intelligent control methods for controlling this sort of complex systems.Chapter 1 introduced the significance and the current status of studying on the horizontal bar gymnastic robot and explained the difficulties and characteristics of this subject.Chapter 2 introduced the background theories: schema theory, human simulated intelligent control theory, and Sensory-Motor Intelligent Schemas based HSIC which combined by the first two applying to control the complex systems.In chapter 3, the control object of this subject, which is a three-link gymnastic robot on horizontal bar with limited joint torque and joint angle is brought forward and its mathematic model is developed. After simulating of the movement of the gymnasts, the control task of this subject is designed as a series swing-up and balance movement, the key point of control is analyzed.Chapter 4 is the emphasis of this dissertation. The structure and contents of the SMIS-based HSIC controller for this system are described in this chapter, and the material expression of time sequence programming schemas and sensory-motor intelligent schema groups of the first three phases are given too.In chapter 5, there are the parameters and results of simulation.