本文關鍵詞：液壓驅(qū)動雙足機器人及其動態(tài)平衡運動控制研究　出處：《哈爾濱工業(yè)大學》2017年博士論文　論文類型：學位論文

  更多相關文章： 雙足機器人 線性倒立擺 動態(tài)平衡 控制算法 液壓伺服

【摘要】：液壓驅(qū)動雙足機器人與地面非連續(xù)接觸的運動特點使其能夠適應野外的復雜路面,腿數(shù)較少的結(jié)構(gòu)特點便于穿越叢林縫隙,液壓裝置功率密度比大的驅(qū)動特點為野外惡劣環(huán)境下運動提供了動力保證,因此,液壓驅(qū)動雙足機器人在野外環(huán)境中運動具有很大優(yōu)勢。但由于雙足機器人在運動過程中的有限足底支撐面積,使其在受到干擾力時具有容易跌倒的問題,因而限制了雙足機器人在現(xiàn)實生活的應用。步行和站立是雙足機器人兩種最常見的運動狀態(tài),在這兩種狀態(tài)中,雙足機器人都有可能因受到干擾力而發(fā)生跌倒,因此,研究雙足機器人的動態(tài)平衡步行和站立的控制方法,具有重要的實際意義。本文通過對人體運動過程的簡化分析,建立了具有步行和站立能力的帶足線性倒立擺模型;通過對帶足線性倒立擺模型的動力學分析,得出了支撐腿髖關節(jié)力矩、雙足切換步長、支撐腿踝關節(jié)力矩和身體高度等對身體運動狀態(tài)影響關系,為雙足機器人動態(tài)平衡步行和站立控制提供了模型和理論基礎�；诟蓴_力必將轉(zhuǎn)化為身體運動狀態(tài)變化這一力學規(guī)律,結(jié)合本文所提出的帶足線性倒立擺模型的動力學方程,分析了腿部動作與身體運動狀態(tài)之間的對應控制關系,搭建了雙足機器人動態(tài)平衡運動控制框架;建立了以支撐腿髖關節(jié)伺服身體姿態(tài)、以支撐腿膝關節(jié)伺服身體高度,以雙足切換步長和支撐腿踝關節(jié)伺服身體水平運動的雙足機器人動態(tài)平衡運動控制算法,同時進行了仿真實驗驗證,并闡述了該算法向三維空間內(nèi)拓展的方法,為雙足機器人的動態(tài)平衡運動提供了控制算法。以人體作為參考,研制了具有力和位置伺服的液壓雙足機器人樣機,并建立了帶足線性倒立擺模型與液壓雙足機器人之間的映射關系;為減小雙足機器人關節(jié)耦合和著地沖擊力引起的液壓缸伺服精度誤差,研制了基于PQ伺服閥、帶力位雙反饋的液壓缸組件,并建立了伺服閥驅(qū)動電流與液壓缸輸出力與輸出位置之間的數(shù)學關系,并依據(jù)此關系建立了帶前饋控制的液壓伺服系統(tǒng),提高了液壓雙足機器人的伺服精度,為雙足機器人動態(tài)平衡步行和站立控制算法提供了載體。搭建了包含電控系統(tǒng)和軟件系統(tǒng)在內(nèi)液壓雙足機器人實驗平臺;進行了雙足動態(tài)平衡站立實驗,驗證了雙足站立的動態(tài)平衡能力;進行了雙足機器人的往復運動試驗,驗證了控制算法的步行能力;進行了在遭受啞鈴撞擊、手推、腳踢等多種形式干擾力下的步行實驗,驗證了雙足步行的動態(tài)平衡能力。通過以上一系列實驗,驗證本文所提出的控制算法能夠?qū)崿F(xiàn)雙足機器人動態(tài)平衡步行和站立。
[Abstract]:Non movement characteristics of continuous contact so that it can adapt to the complex pavement field hydraulic driven biped robot with the ground, the structure characteristics of a small number of legs is through the jungle gap, the hydraulic device power density ratio of the driving characteristics provides power guarantee for the harsh environment under movement therefore, hydraulic driven biped robot motion in the field the environment has a great advantage. But because of limited foot biped robot in the course of the campaign support area, which is easy to fall in interference force, thus limiting the application of biped robot in real life. And the biped robot standing is the two most common movement on foot, in the two state, biped robots are likely due to interference and the incidence of falls, therefore, study on the dynamic balance of the biped robot walking method and control stand, have important Practical significance. Through the analysis to simplify the process of human motion, with full linear inverted pendulum model of walking and standing ability is established; through the analysis of the dynamics of Daizu linear inverted pendulum model, the supporting leg hip torque, double foot switch step, the supporting leg ankle torque and body height on the body the motion state of relationship, provides a theoretical basis for the model and the dynamic balance of the biped robot walking and standing control. Based on the interference force will translate into physical state changes the mechanical laws, combined with the foot of the linear inverted pendulum model kinetic equation proposed by this paper, analyzes the corresponding relation between control movements of the legs and body movement state the build of biped robot dynamic balance motion control framework; to establish a supporting leg hip joint servo body posture, to support leg knee joint servo body high On two feet, switching step and support legs ankle joint servo body horizontal movement of the biped robot dynamic motion control algorithm, and carried out the simulation experiment, and expounds the method to expand the algorithm in 3D space, provides a control algorithm for dynamic balance motion of the biped robot. The human body as a reference developed with hydraulic force and position servo biped robot prototype, and mapping of Daizu linear inverted pendulum model between hydraulic and biped robot; in order to reduce the joints caused by coupling of biped robot and the impact force of hydraulic cylinder servo precision servo valve based on PQ, is developed, with a hydraulic force double cylinder assembly feedback, and established the mathematical relationship between the current driving servo valve and hydraulic cylinder output force and output position, and according to the relationship of the hydraulic servo system with feedforward control And improve the precision of hydraulic servo biped robot, provides a vector control algorithm for the dynamic balance of the biped robot walking and standing. To build a control system and software system, including hydraulic biped robot experimental platform; the double foot dynamic balance experiment, verified the dynamic balance ability of the feet to stand; test the reciprocating motion of the biped robot, verify the walking ability control algorithm; the push hands under the dumbbell impact, walking and other forms of interference experiment kicking force, verify the dynamic balance ability of biped walking. Through a series of experiments to verify the proposed control algorithm can realize the dynamic the balance of the biped robot walking and standing.

【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：博士
【學位授予年份】：2017
【分類號】：TP242

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本文編號：1440083