上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

机器人yoyo轨迹规划与控制

袁德虎1,2，金惠良1，孟国香1，冯正进1   

  1. (1.上海交通大学　机械与动力工程学院， 上海 200240; 2.上海航天控制技术研究所研发中心， 上海 200233)
  • 收稿日期:2009-08-21 修回日期:1900-01-01 出版日期:2010-07-28 发布日期:2010-07-28

Trajectory Planning and Control for Robotic yoyo

YUAN Dehu1,2,JIN Huiliang1,MENG Guoxiang1，FENG Zhengjin1   

  1. (1.School of Mechanical Engineering, Shanghai Jiaotong University， Shanghai 200240, China; 2.R & D Center, Shanghai Aerospace Control Technology Institute， Shanghai 200233， China)
  • Received:2009-08-21 Revised:1900-01-01 Online:2010-07-28 Published:2010-07-28

摘要： 以机器人yoyo运动控制为例，提出了一种针对周期性动态系统进行轨迹规划的通用方法.把yoyo达到底端时机器人机械臂的高度作为中间状态，通过逐个循环逐个阶段求解该最优问题，可得机器人的参考轨迹和名义控制，同时也可以得到被控对象相应的返回映射.该方法也可用于其他类似的周期性动态系统.

关键词: 机器人, 轨迹规划, 参考轨迹, 最优控制

Abstract: This paper presented a general approach for planning trajectories for cyclic dynamic systems, and demonstrated its application for robotic yoyo playing. The approach is based on the return map parameterization using intermediate states of the system. The height of the robot arm when the yoyo arrives at the bottom is selected as the intermediate state. By solving the optimization problems during each phase of a cycle, a reference trajectory, a nominal control for the robot and the corresponding return map of the object are generated simultaneously. The method can also be applied to other similar periodic dynamic systems.

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