摘要
六足步行机器人位姿控制系统是强耦合冗余非线性系统,对单腿速度逆运动学进行研究,建立六足步行机器人速度逆运动学模型,对六足步行机器人位置和姿态进行解耦控制。对机器人位置和姿态采用比例控制策略,建立机器人位置控制闭环和姿态控制闭环实现六足步行机器人位姿闭环控制。基于六足步行机器人平台,由MATLAB和ADAMS建立六足步行机器人仿真模型,并对六足步行机器人位姿闭环控制进行联合仿真,仿真结果验证了六足步行机器人位姿闭环控制方法的正确性。
Position-posture control system of six-legged walking robot has the characteristics： tight coupling, redundancy, nonlinearity. An inverse velocity kinematics model of six legged walking robot was constructed through research on inverse velocity kinematics of single leg. Then the control on position and posture of six-legged walking robot was decoupled to two closed-loops control, the position and the posture closed-loop control, based on the inverse velocity kinematics. The proportional control strategy was employed to implement the closed-loop control on the position posture of six-legged walking robot. Finally, a co-simulation on the closed-loop control on the position-posture of six-legged walking robot was carried out by using MATLAB and ADAMS, and the results verify that the method of closed-loop control on the position-posture of six-legged walking robot is correct.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2014年第5期265-270,264,共7页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金委员会创新研究群体科学基金资助项目(51221004)
浙江省重点科技创新团队计划资助项目(2010R50036)
关键词
六足步行机器人
速度逆运动学
位姿
闭环控制
Six-legged walking robot
Inverse velocity kinematics
Position-posture
Closed-loop control
