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    仿生跳跃机器人气动串联弹性关节的位置刚度控制

    IT圈 admin 63浏览 0评论

    2024年4月1日发(作者：伍和雅)

    ２０２１

    年

    ６

    月

    第

    ３２

    卷第

    １２

    期

    中国机械工程

    CHINAMECHANICALENGINEERING

    Vol．３２　No．１２

    ．１４８６Ｇ１４９３

    pp

    仿生跳跃机器人气动串联弹性关节的

    /

    位置刚度控制

    上海大学机电工程与自动化学院

    ,

    上海

    ,

    ２００４４４

    沈

    　

    双

    　

    雷静桃

    　

    张悦文

    弹性关节的动力学模型

    ,

    推导出关节刚度

    ,

    获得了关节刚度与肌肉内部气压

    、

    弹性体刚度的关系

    .

    设计

    ,

    反向传播

    (

    神经网络整定

    P

    开展了气动串联弹性关

    back

    p

    roaationBP

    )

    ID

    参数的

    BPＧPID

    控制算法

    ,

    pg

    ,//.

    实验结果表明关节位置跟踪平均关节刚度跟踪精度从

    ０．０．１０°０２６N

    2024年4月1日发(作者：伍和雅)

    ２０２１

    年

    ６

    月

    第

    ３２

    卷第

    １２

    期

    中国机械工程

    CHINAMECHANICALENGINEERING

    Vol．３２　No．１２

    ．１４８６Ｇ１４９３

    pp

    仿生跳跃机器人气动串联弹性关节的

    /

    位置刚度控制

    上海大学机电工程与自动化学院

    ,

    上海

    ,

    ２００４４４

    沈

    　

    双

    　

    雷静桃

    　

    张悦文

    弹性关节的动力学模型

    ,

    推导出关节刚度

    ,

    获得了关节刚度与肌肉内部气压

    、

    弹性体刚度的关系

    .

    设计

    ,

    反向传播

    (

    神经网络整定

    P

    开展了气动串联弹性关

    back

    p

    roaationBP

    )

    ID

    参数的

    BPＧPID

    控制算法

    ,

    pg

    ,//.

    实验结果表明关节位置跟踪平均关节刚度跟踪精度从

    ０．０．１０°０２６N

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    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1737772726)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1095, humandate(1737985502)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(26))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1737985502)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1095, humandate(1737988129)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(26))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1737988129)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1095, humandate(1738129605)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(26))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1738129605)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1095, humandate(1738229258)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(26))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1738229258)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1095, humandate(1739729878)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(26))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1739729878)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1095, humandate(1740073221)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(26))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1740073221)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1095, humandate(1740982037)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(26))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1740982037)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1095, humandate(1741192322)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(26))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1741192322)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1095, humandate(1742415694)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(26))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1742415694)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1095, humandate(1743599567)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(26))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)
    Error[2]: Trying to access array offset on value of type int, File: /www/wwwroot/www.usbmi.com/xiunophp/xiunophp.min.php, Line: 54
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 1096, humandate(1743599567)
    File: /www/wwwroot/www.usbmi.com/tmp/model_thread.func.php, Line: 662, well_thread_format(array(27))
    File: /www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm, Line: 249, well_thread_find_asc(array(20) , 20)
    File: /www/wwwroot/www.usbmi.com/tmp/route_read.php, Line: 204, include(/www/wwwroot/www.usbmi.com/tmp/view_template_d8_htm_read.htm)
    File: /www/wwwroot/www.usbmi.com/tmp/index.inc.php, Line: 129, include(/www/wwwroot/www.usbmi.com/tmp/route_read.php)
    File: /www/wwwroot/www.usbmi.com/index.php, Line: 29, include(/www/wwwroot/www.usbmi.com/tmp/index.inc.php)

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