关键词: 欠驱动;轨迹规划;非完整系统;滑模控制

Abstract:

This paper focused on the nonholonomic trajectory planning of underactuated 2R planar robot with one actuator.First the dynamics model was built,the time-scaling method was used to realize the point-to-point trajectory planning for both active and passive joints.Then the sliding mode control(SMC) method which converged the underactuated system to the planned manifold was introduced to achieve the feedback control. The SMC can overcome the shortcoming of nonholonomic systems that the smooth state feedback to an equilibrium point is impossible. Numerical simulation results illuminate the effectiveness of the proposed method.The proposed method provides an effective way for the trajectory planning and control of underactuated systems.

Key words: underactuated;trajectory planning;nonholonomic system;sliding mode control