Study On The Control Of Swing Up And Inverted Balance Of Gymnastic Robot

The gymnastic robot is a kind of robot for teaching and entertainment based on the idea of bionics,its driving device is usually less than its own degree of freedom,so it is an underactuated robot.Under the characteristics of highly nonlinear,time-varying and strong coupling,the underactuated system has a great challenge in control.With the characteristics of low cost and light weight,it can be applied in the fields such as aeronautics and Astronautics,which have strict requirements for energy consumption,and the prospect is very broad.Therefore,the research on control of underactuated system has important theoretical and applied value.First,based on a large number of documents on gymnastics robots at home and abroad,taking the Acrobot robot model as an important reference for the study of the control problem of the underactuated system,the dynamic model of the study of the gymnastic robot is established by using the Lagrange equation,and also analyzes the swing up and the giant swing of the robot.The results show that the force of the robot's paw is the biggest during the movement.On the basis of this analysis,stress analysis is carried out by using ANSYS software.The dynamics model of the gymnastic robot is completed on the Matlab/Simulink platform,and its correctness is verified by mathematical simulation.Secondly,the algorithm of swing up,giant swing and inverted balance control for the gymnastic robot is derived.According to Hamiltonian equation,it is proved that motion control can not be studied by linear thinking.In this paper,two different algorithms are used to realize the swing up control.The two algorithms are based on the partial feedback linearization.Their design concepts are the same,that is,the integral inversion method is used.The problem of the inverted balance is to linearize the dynamic equation in the position of the inverted balance,and to judge the controllability of the equation.Then the LQR algorithm is used to calculate the parameters.Thirdiy,according to the physical dynamics model of the gymnastic robot and the control algorithm mentioned above,the mathematical and mechanism simulation analysis of the partial feedback linearization method is carried out in Matlab/Simulink and ADAMS.It can be seen,the energy of the gymnastic robot is accumulated during the process of the active joint,and the center of gravity is constantly improved,and the balance of the robot is realized,and the large ring movement of the robot is completed.At the same time,the torque curve of the active joint is obtained,so as to facilitate the selection of the motor.Finally,build a physical platform,and use the foregoing control method to complete the swing and giant swing control experiment of the gymnastic robot on the platform.The experimental results show that the control algorithm designed in this paper is able to achieve the desired set of gymnastic movements.