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基于连续体模型合理简化蛇形机器人的动力学方程,基于该动力学描述获得无侧滑条件下使机器人质心速度稳定的关节角度参数集.然后,通过分析侧滑概率与控制参数之间的关系,获得法向摩擦力有限时使质心速度稳定的控制参数.在实现质心速度稳定的基础上,基于连续体模型获得无侧滑时实现机器人速度跟踪的控制参数.最后基于上述理论值设计控制器,将上述理论值作为关节角度参数的初值,利用速度反馈对关节角度进行微调节,消除模型近似和环境差异带来的速度误差.基于Open Dynamics Engine进行仿真,仿真结果显示蛇形机器人质心速度能够跟踪期望速度,从而验证了所提方法的有效性.
Based on continuum model, the dynamics equations of serpentine robot are reasonably simplified, and based on this dynamic description, the joint angular parameter set that stabilizes the robot’s centroid velocity under no side-slip condition is obtained. Then, by analyzing the relationship between the slip probability and control parameters , To obtain the control parameters with normal frictional force to stabilize the centroid velocity.Based on the continuum model, the control parameters to achieve the robot velocity tracking are obtained based on the continuum model.Finally, the controller is designed based on the above theoretical value , The above theoretical value is taken as the initial value of the joint angle parameter, and the joint angle is finely adjusted by using the speed feedback to eliminate the speed error caused by the model approximation and the environmental difference.Based on the simulation of Open Dynamics Engine, the simulation results show that the centroid velocity It can track the expected speed, which verifies the effectiveness of the proposed method.