|
ИСТИНА |
Войти в систему Регистрация |
ИПМех РАН |
||
The problem of "gymnast" motion controll in free and during the transition in the state of contact with the supportстатья
Информация о цитировании статьи получена из
Scopus
Статья опубликована в журнале из списка Web of Science и/или Scopus
Дата последнего поиска статьи во внешних источниках: 29 апреля 2021 г.
- Автор: Lavrovskii E.K.
- Журнал: Russian Journal of Biomechanics
- Том: 24
- Номер: 1
- Год издания: 2020
- Издательство: Perm National Research Polytechnic University
- Местоположение издательства: Perm, Russia
- Первая страница: 54
- Последняя страница: 64
- Аннотация: Annotation. The paper discusses some aspects of the jump of a "gymnast athlete" (or "robot gymnast") from the "crossbar"from a theoretical and mechanical point of view. All phases of the bounce in the flight case are considered. The body of the " gymnast "is modeled by a three-link physical pendulum, but after it is detached from the " crossbar "and the" hands " are lowered , the two-link pendulum becomes the model of the dynamic system. For a two-link model within the mode "kinematic" control studies the process of lowering the "hands", free flight, exit "feet" on the support (absolutely inelastic impact) and further control in the reference phase for vertical stabilization of the entire pendulum system. The "kinematic" control mode means that the angle between the links of the body can be changed instantly (within certain limits). For each of the motion phases, convenient forms of dynamic equations describing it are found. These equations rely on using the kinetic moment of the system relative to various points of the body or space as one of the variables. The order of such a system of equations is lower than the order of the complete system. The stage of calming the "gymnast", which occurs after the release of the legs on the the support surface is also studied on the basis of a special system of equations of this type. Shows how to use numerical analysis to build the region of controllability for transition of dvuhtonnoy in a state of stabilization, corresponding to the equality of the horizontal coordinate of the support foot and the center of gravity two-link pendulum system. The method of constructing a stabilizing control is considered. The results of the presented analysis of the problem allow us to build a convenient approximate model of the phenomenon as a whole, as well as use it when controlling a robotic analog. As an example one of the cases of movement corresponding to the anthropomorphic model is considered.
- Добавил в систему: Лавровский Эдуард Кирович