【摘要】：相較于輪式機器人,足式機器人具有更好的非連續(xù)地形適應(yīng)性,但在運動速度與能耗效率上,足式機器人尚低于輪式機器人。因而如何在利用足式機器人的優(yōu)點的情況下,提高足式機器人運動速度與能耗效率成為足式機器人領(lǐng)域研究重點。為了解決機器人的大速度范圍、高效運動的問題,研究四足機器人變步態(tài)運動控制有著重要的現(xiàn)實意義。本課題以四足機器人平面模型作為研究對象,在建立四足機器人平面動力學模型和能耗模型的基礎(chǔ)上,以機器人的穩(wěn)定性和能耗最優(yōu)作為優(yōu)化目標,基于粒子群算法和Matlab數(shù)值仿真平臺,對機器人多種步態(tài)下的運動以及變步態(tài)運動控制方法進行了分析。首先,分析了四足機器人變步態(tài)的運動特點,建立了四足機器人變步態(tài)運動平面動力學模型;結(jié)合對平面動力學模型進行穩(wěn)定性分析和能耗分析的結(jié)果,得到了四足機器人變步態(tài)平面模型。其次,為了對機器人的變步態(tài)運動進行控制,以機器人平面模型的穩(wěn)定性和能耗經(jīng)濟性作為優(yōu)化目標,得到了平面模型運動的適應(yīng)性函數(shù);基于適應(yīng)性函數(shù)和粒子群智能算法,給出了一種機器人平面模型控制參數(shù)搜索方法;利用該方法對機器人的變步態(tài)運動控制參數(shù)進行規(guī)劃,得到了機器人在多種步態(tài)、大速度范圍下做勻速及加減速運動的穩(wěn)定控制解。通過對得到的控制解組成的解集進行分析,根據(jù)不同步態(tài)的穩(wěn)定性、能耗等參數(shù)隨前進速度變化的關(guān)系給出了機器人的運動速度區(qū)間、各個步態(tài)的最適運動速度區(qū)間,得到了機器人變步態(tài)運動的控制參數(shù)規(guī)劃結(jié)果。最后,本課題采用SimMechanics-Simulink仿真建立了四足機器人虛擬樣機,設(shè)計了基于離線控制解集的虛擬樣機控制策略,進行了起步、加速、、減速、漸停等一系列仿真實驗。實驗實現(xiàn)了機器人虛擬樣機大速度范圍、高能耗效率的多步態(tài)、變步態(tài)穩(wěn)定運動,驗證了基于四足機器人平面模型的變步態(tài)運動規(guī)劃結(jié)果及機器人變步態(tài)控制方法的有效性。
[Abstract]:Compared with wheeled robots, foot robots have better adaptability to discontinuous terrain, but they are still lower than wheeled robots in terms of motion speed and energy efficiency. Therefore, how to improve the speed and energy efficiency of foot robot becomes the focus of research in the field of foot robot under the condition of making use of the advantages of foot robot. In order to solve the problem of high speed and high efficiency of robot, it is very important to study variable gait motion control of quadruped robot. Based on the plane dynamics model and energy consumption model of quadruped robot, the stability and energy consumption optimization of quadruped robot is taken as the optimization object. Based on particle swarm optimization (PSO) and Matlab numerical simulation platform, the motion and variable gait motion control methods of robot in multiple gaits are analyzed. Firstly, the characteristics of variable gait motion of quadruped robot are analyzed, and the plane dynamics model of variable gait motion of quadruped robot is established, and the results of stability analysis and energy consumption analysis of the model are combined. The variable gait plane model of quadruped robot is obtained. Secondly, in order to control the variable gait motion of the robot, the stability and energy efficiency of the robot plane model are taken as the optimization objectives, and the adaptive function of the plane model motion is obtained, which is based on the adaptive function and the particle swarm intelligence algorithm. In this paper, a parameter search method for planar model control of a robot is presented, by which the variable gait motion control parameters of the robot are planned, and the robot in various gait states is obtained. The stable control solution of uniform velocity and acceleration and deceleration motion is given in large range of velocity. By analyzing the solution set composed of the control solution, according to the relation between the stability of different gait and the energy consumption and so on, the moving speed interval of robot and the optimum moving velocity interval of each gait are given. The control parameter planning results of the variable gait motion of the robot are obtained. Finally, the virtual prototype of quadruped robot is established by SimMechanics-Simulink simulation, and the control strategy of virtual prototype based on off-line control solution is designed. A series of simulation experiments, such as starting, accelerating, decelerating and stopping, are carried out. The multigait and variable gait steady motion of the virtual prototype with large speed range and high energy consumption efficiency is realized experimentally. The results of variable gait motion planning based on the planar model of quadruped robot and the effectiveness of the variable gait control method are verified.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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