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设计了2个拮抗式气动肌肉关节串联的2自由度腿部机构,基于三元素气动肌肉模型,建立单腿拉格朗日动力学模型.构建了系统状态空间,设计了基于干扰上界的滑模控制(SMC)律.搭建了仿真和实验测试平台.分别采用比例-积分-微分(PID)控制、滑模控制对髋关节和膝关节位置跟踪进行仿真和实验.实验结果表明,与PID控制相比,在SMC控制下髋关节误差降低26.2%,膝关节误差降低25.1%,SMC控制的位置跟踪精度要优于PID控制.在自主研发的四足机器人样机平台上进行测试,在SMC控制下可实现四足机器人的小跑步态.
Two 2-DOF leg mechanisms with antagonistic pneumatic muscle joints were designed and a Lagrange dynamic model was established based on the three-element aerodynamic muscle model. The system state space was constructed and the sliding based on interference upper bound (PID) control and sliding mode control were used to simulate and experiment the position tracking of the hip joint and the knee joint. The experimental results show that, compared with the PID control Compared with the SMC control, the hip joint error is reduced by 26.2% and the knee joint error is reduced by 25.1%. The position tracking accuracy of the SMC control is better than that of the PID control.According to the self-developed quadruped robot prototype platform, under SMC control Four-legged robot can achieve trotting.