The utility model provides a non regular feedback loop underactuated robot control system based on feedforward, including transform module, integrator, coordinate transformation module, feedback module, coordinate transform module, conversion module for non regular feedforward feedforward transformation module, the output control module is connected with the input signal input channel gain, gain module through the adder and the integrator integrator in connection state output all the way through the system gain module and adder connected, and the other two input gain module coordinatetransformation module are respectively connected, coordinate module, linear feedback module, coordinate transform module are sequentially connected, coordinate transform module and feedforward transform module input control signal channel connection, feedforward transformation module output the control signal into a plurality of channels, the input control signal channel is less than the output control signal. The integrator module outputs the signal, that is, the generalized coordinate value at the end of the manipulator. The system is applied to the stabilization control of flexible joint robot, and the effect is good.
【技术实现步骤摘要】
【技术保护点】
基于非正则反馈回路的欠驱动机器人控制系统，包括前馈变换模块、积分器、坐标变换模块、线性反馈模块、坐标逆变换模块，其特征在于：所述前馈变换模块为非正则前馈变换模块，其通过输出控制信号通道与输入增益模块连接，输入增益模块通过加法器与积分器连接，积分器的状态输出分为三路，一路通过系统增益模块与所述加法器连接，一路与所述输入增益模块连接，一路与坐标变换模块连接，所述坐标模块、线性反馈模块、坐标逆变换模块依次连接，所述坐标逆变换模块与所述前馈变换模块的输入控制信号通道连接，所述前馈变换模块的输出控制信号通道为多个，输入控制信号通道少于输出控制信号通道；所述积分器模块的输出信号即为机械臂末端广义坐标值。
【技术特征摘要】
【专利技术属性】
技术研发人员：孙振东，
申请(专利权)人：华南理工大学，
类型：实用新型
国别省市：81[中国|广州]
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