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柔性两轮自平衡仿人机器人模型分析

Keywords: 柔性机器人,动力学建模,广义坐标,Lagrange方程,腰椎

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Abstract:

用弹簧模仿人的腰椎,对动力学简化模型进行了线性化处理,建立状态空间方程对其进行控制,并从数学角度验证了模型的正确性.

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