作者：董云云¹，刘治品²，张兰兰¹，于征华¹

单位：1烟台南山学院  山东烟台  265713

      2龙口市第一中学   山东烟台  265701

中图分类号:  TP242     

文献标识码：A     

文章编号：1006-883X(2012)12-0007-04

收稿日期：2012.10.12

摘要：欠驱动机器人是指独立控制输入量少于系统自由度的一类机器人，具有重量轻、成本低、能耗低等众多优点，目前已引起学者们的广泛关注。介绍了欠驱动机器人控制器设计的六类策略，分析了各类策略的应用及效果。如何将鲁棒控制与其它控制策略相结合，开发出更实用、性能更优越的控制策略，有待于进一步研究。

关键词：欠驱动机器人；非线性控制；非完整约束

Survey of control schemes for underactuated robots 

DONG Yun-yun¹  LIU Zhi-pin²  ZHANG Lan-lan¹  YU Zheng-hua¹

1.Yantai NanShan University, Yantai 265713, China;

2. Longkou First High School, Yantai 265701, China

Abstract: Underactuated robots are referred to as a kind of mechanical systems with fewer control inputs than degrees of freedom, which have many advantages such as light weight , low cost and low power consumption. More and more researchers have paid their attention to this new field recently. Six kinds of schemes for underactuated robots in the controller design are introduced in this paper , and the applications and the effects of these schemes are analyzed.How to combine robust control with these schemes to employ novel schemes which can improve the utility and the performance for further study needs to be studied furtherly.

Keywords: under-actuated robots;  nonlinear control;  non-holonomic

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备注：2012年 第18卷 第12期