本文選題：機(jī)器人 + 液壓驅(qū)動(dòng)�。� 參考：《儀器儀表學(xué)報(bào)》2017年03期

【摘要】：為緩解液壓驅(qū)動(dòng)足式機(jī)器人動(dòng)態(tài)步態(tài)行走時(shí)著地瞬間足端沖擊對(duì)機(jī)器人系統(tǒng)及其運(yùn)動(dòng)控制的影響,提出了一種基于關(guān)節(jié)運(yùn)動(dòng)規(guī)劃的機(jī)器人柔順著地控制方法。以液壓驅(qū)動(dòng)單腿跳躍機(jī)器人為研究對(duì)象,分析機(jī)器人足端著地沖量,通過選擇合適的機(jī)器人著地姿態(tài)和減小機(jī)器人著地前足端速度實(shí)現(xiàn)機(jī)器人柔順著地,為此在空中相進(jìn)行余弦速度曲線關(guān)節(jié)運(yùn)動(dòng)軌跡規(guī)劃,以及著地相進(jìn)行余弦函數(shù)關(guān)節(jié)運(yùn)動(dòng)軌跡規(guī)劃。將該方法分別應(yīng)用于基于MATLAB/Simulink軟件建立的仿真模型和試驗(yàn)樣機(jī)進(jìn)行單腿豎直跳躍控制實(shí)驗(yàn),仿真和試驗(yàn)結(jié)果顯示采用該方法的機(jī)器人跳躍控制消除了足端著地瞬間地面作用力在膝關(guān)節(jié)液壓缸無(wú)桿腔形成的液壓沖擊,實(shí)驗(yàn)結(jié)果表明提出的基于關(guān)節(jié)運(yùn)動(dòng)規(guī)劃的機(jī)器人柔順著地控制方法合理可行。
[Abstract]:In order to alleviate the impact of the impact on the robot system and its motion control during the dynamic gait movement of the hydraulic driven foot robot, this paper presents a method of compliant landing control for the robot based on joint motion planning.Taking the hydraulic driven single-legged hopping robot as the research object, the impulse of the robot's foot landing is analyzed, and the robot's compliant landing is realized by selecting the appropriate robot landing posture and reducing the robot's forward foot speed.Therefore, cosine velocity curve joint motion trajectory planning and landing phase cosine function joint motion trajectory planning are carried out in the air phase.The method is applied to the single leg vertical jump control experiment based on the simulation model established by MATLAB/Simulink software and the experimental prototype, respectively.The simulation and experimental results show that the robot jumping control with this method eliminates the hydraulic impact formed by the ground force at the moment of landing on the knee joint hydraulic cylinder.The experimental results show that the proposed robot compliant landing control method based on joint motion planning is reasonable and feasible.
【作者單位】： 浙江大學(xué)流體動(dòng)力與機(jī)電系統(tǒng)國(guó)家重點(diǎn)實(shí)驗(yàn)室;
【基金】：國(guó)家自然科學(xué)基金創(chuàng)新研究群體科學(xué)基金(51521064);國(guó)家自然科學(xué)基金(41506116)項(xiàng)目資助
【分類號(hào)】：TP242

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本文編號(hào)：1749868