关键词: 动力学方程, 欠驱动机器人, 位形流形, 最小嵌入模型

Abstract: The second order nonholonomic constraint underac- tuated robot dynamic modeling and control are investigated by applying configuration manifold minimum embedding model. So the dynamic equation is reduced and the basis for further study on underactuated robot’s dynamic modeling and control is found. The existence of passive joints is expressed by one homogeneous linear equation. And solution structure for dynamic equation based on minimum embedding model is posed. Another homogeneous linear equation associated with actuated joints and control inputs is presented by introducing computed torque. And one underdetermined linear equation set related with control inputs and theirs solutions is formulated by analyzing the relationship between control inputs and solutions of the two equations. Improved dynamic equation of underactuated robot is developed by solving the equations. The minimum embedding model control is performed by full actuated robot control law. And the underactuated robot joint space control is realized. Finally, the above principle feasibility and effectiveness are illustrated with a planar two bar underactuated robot.

Key words: Configuration manifold, Dynamic equation, Minimum embedding model, Underactuated robot