Research on Control Algorithms of Underactuated Gymnastic Robot's Leaping Between Horizontal Bar

摘要

This paper mainly studies the leaping movement of gymnastic robot between horizontal bar. There are two stages in the bar changing movement preparation stage and leap stage. The preparation stage refers to the swing-up stage of the gymnastic robot, which accumulates energy for leap through the swing of the active joint. The leap stage is the process in which a gymnastic robot is released from one horizontal bar to the other. Keeping the configuration unchanged, the gymnastic robot rotates uniformly around the whole center of mass after leaving the bar. In order to make the gymnastic robot turn appropriate angle to grasp the bar after leaping, the initial state of the robot during is planned by considering the constraints of leaving bar and grasping bar. In order to achieve the desire state of leaping, a swing-up controller based on subsection control is adopted in swing-up stage. With this approach the gymnastic robot can continuously swing up and accumulate energy under the constraints in the physical experiment, and reach the initial state required for leap periodically. Finally, we build the controller model in Matlab/Simulink and verify the proposed control strategy.