Research On The Control Of Robot With Unactuated Arm

Robot with unactuated arm is the robot which has some free joints. The merit of this kind of robot is obvious. Underactuated robot maybe useful in particular instances to reduce weight, cost or energy consumption, while still maintaining an adequate degree of dexterity. The research on underactuated robot is also have important significance on moving robot and bionics. These strongpoints make this kind of robot have important value in the scientific research, so it has been the hotspot of the robot research. This paper did some research on the position control of this kind of robot, mainly finished the work as below:Firstly, we use Newton-Euler equation build a dynamics model of the underactuated robot, then, We simplify the model through obtaining the average system of the underactuated robot using averaging method which is efficient to deal with nonlinear system. The simulation results show that the real system and the average system have the same trajectory in the phase plane under the disturbance of periodic input of the actuated joint of the robot.Secondly, we use MatLab to emulate the average model , derive out a kind of control method based on the position and speed feedback. To verify the control method, We design and produce a robot with a unactuated arm.At last, we carry on a series of control experiments on the model of robot, verify the open-loop control method put forward in the former document .