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为解决足式施工运输机器人腿部控制柔顺性的问题,将ARM技术应用到机器人腿部柔顺性测试平台的搭建中。文中对机器人控制算法的稳定性和鲁棒性进行了分析,并提出了机器人平台硬件构架的设计方案,建立机器人腿部柔顺性控制平台。在此平台上,对自适应控制算法的控制性能进行了测试,完成了机器人电流检测试验,以及存在力传感器干扰和期望脚力指令干扰情况下机器人脚力跟踪试验。试验结果表明,该ARM控制平台能准确地控制机器人腿部的行走,实时测量机器人在运动过程中脚力及电流变化情况,证明了该算法能够实现脚力跟随,保证了机器人行走的稳定性。
In order to solve the problem of foot control flexibility of foot-mounted transport robots, ARM technology was applied to the construction of robotic leg flexibility test platform. In this paper, the stability and robustness of the robot control algorithm are analyzed, and the design scheme of the hardware platform of the robot platform is proposed, and the control platform of the robot leg flexibility is established. On this platform, the control performance of the adaptive control algorithm is tested, and the robot current test, the robot foot-force tracking experiment under the interference of the force sensor and the interference of the expected foot-force command are completed. The experimental results show that the ARM control platform can accurately control the walking of the robot leg and measure the changes of the force and current of the robot in real time. It proves that the algorithm can follow the foot force and ensure the stability of the robot walking.