论文部分内容阅读
为了解决四足机器人对角小跑运动中机体绕对角线翻转的问题,在理论分析翻转原因的基础上提出一种简单有效的姿态控制方法.首先建立四足机器人腿结构的运动学模型,通过数值运算与分析,得到机体翻转的根本原因,即支撑腿髋部前摆关节的反作用力矩产生了绕机体对角线的翻转运动.在此基础上,提出利用支撑腿的髋部侧摆关节力矩来平衡机体翻转的姿态控制方法,并分析讨论了姿态控制可能引起的机体侧向运动现象.最后进行动力学仿真试验,发现机器人在不施加姿态控制的情况下很容易失去平衡而翻到;而在应用了提出的姿态控制方法后,机器人能够实现稳定的小跑运动并且保持机体翻转角度在一个较小的范围内稳定波动.仿真试验对比证明了该姿态控制方法能有效控制机体翻转运动并保持机器人动态平衡.
In order to solve the problem that the quadruped robot flips around the diagonal in the diagonal trotting movement, a simple and effective attitude control method is proposed based on the theoretical analysis of the reason of the rollover.Firstly, the kinematics model of the quadruped robot leg structure is established, Numerical calculation and analysis, the root cause of the body turning is obtained, that is, the reaction moment of the front hip joint of the supporting leg produces a turning movement around the diagonal of the body. On this basis, To balance the attitude control method of body turning over and to analyze and discuss the possible lateral movement of the body caused by attitude control.Finally, the dynamic simulation test shows that the robot can easily lose balance and turn to without the attitude control; After the proposed attitude control method is applied, the robot can achieve stable trotting movement and keep the body turning angle fluctuating steadily within a relatively small range.Comparison of the simulation results shows that the attitude control method can effectively control the body turning movement and keep the robot dynamic equilibrium.