【摘要】：近年來(lái),機(jī)器人技術(shù)蓬勃發(fā)展,六足機(jī)器人作為機(jī)器人家族中極具典型的一員,已經(jīng)在災(zāi)情救援、地表偵察、太空探測(cè)等諸多領(lǐng)域取得應(yīng)用。同時(shí)運(yùn)動(dòng)控制作為機(jī)器人學(xué)的重要研究方向,得到了控制領(lǐng)域的廣泛關(guān)注。隨著生物學(xué)研究的逐漸深入,仿生控制方法在模擬生物運(yùn)動(dòng)節(jié)律的方向展現(xiàn)出相比傳統(tǒng)控制方法更大的優(yōu)越性,其中,以中樞模式發(fā)生器控制方法(Central Pattern Generator,CPG)最為典型。CPG控制方法能夠在缺乏高層控制信號(hào)和外部反饋的情況下,產(chǎn)生穩(wěn)定的節(jié)律輸出信號(hào),不需要對(duì)外部環(huán)境精確建模,控制方法簡(jiǎn)單有效,并可以很好地模仿生物運(yùn)動(dòng)步態(tài)。由此,本文將以CPG控制方法為核心,以六足機(jī)器人為控制對(duì)象,對(duì)其運(yùn)動(dòng)控制方法進(jìn)行詳盡的探討。首先,論文介紹了關(guān)于步態(tài)周期、步長(zhǎng)、占地比等基本概念,通過(guò)基于模型的控制方法,以機(jī)器人單腿為對(duì)象,進(jìn)行幾何分析和正逆運(yùn)動(dòng)學(xué)解算。在此基礎(chǔ)上,對(duì)單腿足端軌跡進(jìn)行多項(xiàng)式擬合,以此完成機(jī)器人的運(yùn)動(dòng)規(guī)劃,保證運(yùn)動(dòng)準(zhǔn)確性。同時(shí),選擇無(wú)刷直流電機(jī)作為機(jī)器人關(guān)節(jié)驅(qū)動(dòng)裝置,完成數(shù)學(xué)建模過(guò)程,并在關(guān)節(jié)空間內(nèi)建立三閉環(huán)控制器,保證對(duì)高層的輸出信號(hào)的精確跟蹤。其次,通過(guò)采用中樞模式發(fā)生器中基于單一非線性振子的方法代替?zhèn)鹘y(tǒng)基于模型控制算法來(lái)進(jìn)行關(guān)節(jié)軌跡生成。論文選取Hopf神經(jīng)振蕩器作為節(jié)律控制的基本單元,描述振蕩器參數(shù)對(duì)輸出波形的影響,利用串聯(lián)慣性環(huán)節(jié)提供的相角滯后產(chǎn)生固定相位差的原始信號(hào),并通過(guò)設(shè)置閾值線的方法確定單腿擺動(dòng)相與支撐相的切換時(shí)刻,最后以調(diào)節(jié)采樣頻率以及補(bǔ)償相位差的方式確定關(guān)節(jié)控制信號(hào)與原始相位差信號(hào)在離散時(shí)間內(nèi)的一一對(duì)應(yīng)關(guān)系,描述典型步態(tài)的規(guī)劃發(fā)生過(guò)程。隨后,針對(duì)基于單一振子的步態(tài)生成方法所產(chǎn)生的問(wèn)題,論文提出了相應(yīng)的方法予以改進(jìn)。通過(guò)選取改進(jìn)的Hopf振子實(shí)現(xiàn)擺動(dòng)相與支撐相頻率的單獨(dú)可調(diào),并通過(guò)利用CPG環(huán)狀網(wǎng)絡(luò)結(jié)構(gòu)消除串聯(lián)慣性環(huán)節(jié)帶來(lái)的誤差積累,整體上簡(jiǎn)化了控制過(guò)程,提高了仿生控制方法的運(yùn)動(dòng)控制效果。最后,論文以典型步態(tài)為例,通過(guò)六足機(jī)器人實(shí)驗(yàn)平臺(tái),對(duì)算法的正確性與可行性做出了驗(yàn)證。
[Abstract]:In recent years, robot technology has developed rapidly. As a typical member of robot family, hexapod robot has been applied in many fields such as disaster rescue, surface reconnaissance, space exploration and so on. At the same time, motion control, as an important research direction of robotics, has received extensive attention in the field of control. With the development of biological research, the bionic control method shows more advantages than the traditional control method in the direction of simulating biological motion rhythm. Among them, the central mode generator control method (Central Pattern Generator, CPG) is the most typical. CPG control method can produce stable rhythmic output signal without high level control signal and external feedback, and the control method is simple and effective without the need for accurate modeling of external environment. And can well imitate the biological movement gait. Therefore, the motion control method of hexapod robot is discussed in detail with CPG control method as the core and hexapod robot as the control object. Firstly, this paper introduces the basic concepts of gait period, step size and occupation ratio. The geometric analysis and forward and inverse kinematics are carried out through model-based control method. On the basis of this, polynomial fitting of the trajectory of one leg foot is carried out to complete the motion planning of the robot and ensure the accuracy of the motion. At the same time, the brushless DC motor is chosen as the robot joint driving device, and the mathematical modeling process is completed, and the three-loop controller is established in the joint space to ensure the accurate tracking of the output signals of the upper level. Secondly, the method based on single nonlinear oscillator in the central mode generator is used to generate the joint trajectory instead of the traditional model-based control algorithm. In this paper, Hopf neural oscillator is selected as the basic unit of rhythm control, and the influence of oscillator parameters on output waveform is described. The original signal with fixed phase difference is produced by the phase angle lag provided by series inertial link. The switching time between the swing phase and the support phase is determined by setting the threshold line. Finally, the one-to-one correspondence between the joint control signal and the original phase difference signal in discrete time is determined by adjusting the sampling frequency and compensating the phase difference. Describes the planning process of a typical gait. Then, in order to solve the problem of gait generation method based on single oscillator, the corresponding method is proposed to improve it. The frequency of swing phase and support phase can be adjusted separately by selecting improved Hopf oscillator, and the error accumulation caused by series inertial link is eliminated by using CPG ring network structure, which simplifies the control process as a whole. The motion control effect of the bionic control method is improved. Finally, taking typical gait as an example, the correctness and feasibility of the algorithm are verified by the experimental platform of hexapod robot.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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本文編號(hào)：2312053