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多节链式Pendubot可控度问题研究
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Abstract:
本文对多节链式Pendubot进行可控度研究。推导了三种可控度计算方法，排除了计算结果有误的部分算法，计算出1~6节Pendubot可控度指标。研究表明，在多节链式结构中，随着欠驱动的自由度逐一增加，系统可控程度不仅明显减小，而且衰减程度也不断增大。同时本文利用可控度分析对比了不同自由度的欠驱动环节对整体系统可控度的影响，从可控度角度解释了多节Pendubot难于控制的原因。
This paper studied the controllability of multi-link Pendubot. Derived three controllability index, and excluded the incorrect parts. This paper calculated the controllability index of Pendubot in Link 1~6. The results show that with the number of the degree of underactuated freedom increased, the controllability of the system decreases obviously and the attenuation degree increases. Besides, this paper used the controllability index to compare the influence of different degrees of underactuated freedom on the system controllability, and explains the reason why the Multi-Link Pendubot is difficult to control.
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