| 英文摘要 | In order to solve some important control problems of brachiation inspection robot, by ignoring other affecting factors and only considering the influence of gravity, several nonlinear control problems are studied and the control system is designed for the brachiation inspection robot Firstly, the previous research work of inspection robot is overviewed and the key technical difficult points during its designing are analyzed. Furthermore, the underactuated problems in the inspection robot are illustrated. Secondly, according to the characteristics of the obstacles, the mechanical design skeleton and operating principle are presented. Based on the kinematics model and simplified dynamics model, several nonlinear control problems to be solved are presented during the motion control. Thirdly, the kinematical equation of the BIR model is derived with the screw method. Based on static gravity balance theory, the relationship between the passive joints and active joints is obtained. With this restriction, the workspace of the BIR is analyzed and the inverse kinematics problem is solved by the combination of CCD and BFGS optimization methods. Fourthly, with Lagrange dynamical techniques, the mathematical equations are presented for the simplified BIR model, i.e. the B-B system. The partial feedback linearization and Yamada's global linearization method are combined to obtain a global approximate linearization method which is suitable for underactuated systems and is efficient for the set-point control near the equilibrium manifold. Fifthly, an energy-based method is proposed for the balance control problems of the B-B system. Based on Lyapunov analysis, the feedback control laws together with the rule of parameters choice are obtained for both zero and nonzero desired point cases. Considering the limitation of the motion range, a switch control strategy between two structure modes and a Lyapnov-based control method are proposed and analyzed respectively. Sixthly, considering the case of nonequilibrium desired point, an open-loop control method based on vibrational input is proposed. Based on the study of Poincare section of the B-B system with vibrational input, the swing up control problem is solved by the control strategy composed of four phases with amplitude increasing, rough adjustment, accurate adjustment and single pendulum. The B-B system can always be controlled to arrive at the desired point. Seventhly, based on a hierarchical control structure, the control system is constructed with PC104 and ARM9 embedded techniques. An application layer protocol based on CAN2.0 bus is proposed for the communication between multiple microprocessers. Considering the complicated environment, a rule-base based behavior planning method and a video-transferring based remote control method are presented for obstacle-negotiation of brachiation inspection robot. Finally, the obtained results are summarized and the future work is addressed. |
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