高速跳躍四足機器人變剛度阻抗控制方法研究
發(fā)布時間：2019-03-31 20:44
【摘要】：隨著足式機器人領(lǐng)域研究的不斷深入,逐漸形成重載型和高速型兩個研究分支,然而像自然界獵豹一樣具有高速高加速度運動能力的四足機器人屈指可數(shù),傳統(tǒng)通過物理阻抗元件調(diào)節(jié)腿部阻抗來實現(xiàn)機器人中低速運動的研究大大滯后目前機器人領(lǐng)域?qū)Ω咚僮闶綑C器人的需求,因此以高速為研究目標的四足仿生機器人越來越受到國內(nèi)外學(xué)者的高度重視。研究表明,變剛度主動阻抗控制可以替代傳統(tǒng)被動阻抗控制,對于提升機器人運動速度具有重要意義。針對被動阻抗控制不僅剛度調(diào)節(jié)范圍小,而且容易造成結(jié)構(gòu)笨重復(fù)雜,以及機器人腿部阻抗計算需要對足底力做正弦力理想化近似,同時著地時間的計算又無法實時檢測,存在一定滯后性等問題,本文重點開展了高速跳躍四足機器人變剛度阻抗控制方法研究,通過聯(lián)合仿真對比實驗驗證了控制方法的正確性與有效性。具體開展如下研究:首先,針對上述被動阻抗控制方法所存在的問題,本文基于主動阻抗控制方法,結(jié)合具有虛擬阻抗參數(shù)的SLIP模型,通過建立著地相模型豎直方向受力平衡方程獲得腿部剛度的解析解,以及腿部剛度與運動速度的關(guān)系,在此基礎(chǔ)上,研究了變剛度阻抗控制策略。其次,為驗證變剛度阻抗控制方法的正確性與有效性,以單腿子系統(tǒng)為實驗平臺,將單腿子系統(tǒng)等效成一條具有虛擬阻抗參數(shù)的彈簧腿,利用上述變剛度阻抗控制方法,并研究機器人高度控制、速度控制以及貝塞爾曲線足端軌跡規(guī)劃方法。在上述控制方法的基礎(chǔ)上,進行單腿子系統(tǒng)聯(lián)合仿真對比實驗,實驗結(jié)果驗證了利用剛度計算方法與變剛度阻抗控制策略對于提升機器人速度的正確性與有效性。該腿部剛度計算方法不僅計算精度較高,而且可以滿足高速跳躍對于控制系統(tǒng)實時性高的要求。然后,在上述基礎(chǔ)上,建立了四足機器人平面模型,分析了雙飛行相跳躍步態(tài),研究了機器人高度控制、速度控制、俯仰角控制以及鏡像腿控制等控制方法,并對四足機器人平面模型進行受力分析,將控制力轉(zhuǎn)化為驅(qū)動力,為驗證變剛度阻抗控制方法在跳躍步態(tài)下提升足式機器人速度的正確性與有效性提供理論基礎(chǔ)。最后,進行了四足機器人跳躍步態(tài)變剛度阻抗控制實驗,通過虛擬樣機聯(lián)合仿真對比實驗,驗證了變剛度阻抗控制方法在高速高加速度跳躍步態(tài)下對于提升足式機器人運動速度的正確性與有效性。最終實現(xiàn)跳躍步態(tài)下四足機器人每秒十倍身長高速高加速度穩(wěn)定跳躍運動。
[Abstract]:With the further research in the field of foot robots, two branches of research are gradually formed: heavy load type and high speed type. However, only a few quadruped robots, like Cheetah in nature, have the ability of high-speed and high-speed motion. The traditional research on how to adjust leg impedance by physical impedance element to realize the low-speed motion of robot lags far behind the requirement of high-speed foot robot in the field of robot at present. Therefore, the high-speed quadruped bionic robot has been paid more and more attention by scholars at home and abroad. The research shows that the variable stiffness active impedance control can replace the traditional passive impedance control, which is of great significance to the acceleration of the robot's moving speed. The passive impedance control not only has a small range of stiffness adjustment, but also makes the structure cumbersome and complex, and the calculation of robot leg impedance requires idealized approximation of the sine force on the foot floor, and the calculation of the landing time can not be detected in real time. In this paper, the variable stiffness impedance control method of the high-speed jumping quadruped robot is studied, and the validity and correctness of the control method are verified by the joint simulation and comparison experiment. The main contents are as follows: firstly, aiming at the problems existing in the above passive impedance control methods, based on the active impedance control method, this paper combines the SLIP model with virtual impedance parameters. The analytical solution of leg stiffness and the relationship between leg stiffness and velocity are obtained by establishing the equilibrium equation of vertical force on the ground phase model. On the basis of this, the variable stiffness impedance control strategy is studied. Secondly, in order to verify the correctness and effectiveness of the variable stiffness impedance control method, the single leg subsystem is equivalent to a spring leg with virtual impedance parameters on the experimental platform, and the variable stiffness impedance control method is used. The robot height control, velocity control and Bessel curve foot trajectory planning method are also studied. On the basis of the above-mentioned control methods, the joint simulation experiments of the single leg subsystem are carried out. The experimental results show that the stiffness calculation method and the variable stiffness impedance control strategy are correct and effective in improving the speed of the robot. The leg stiffness calculation method is not only accurate, but also can meet the requirements of high-speed jump for real-time control system. Then, the plane model of quadruped robot is established, and the biphase jumping gait is analyzed. The control methods such as height control, velocity control, pitch angle control and mirror leg control are studied. By analyzing the plane model of the quadruped robot, the control force is transformed into the driving force, which provides a theoretical basis for verifying the correctness and effectiveness of the variable stiffness impedance control method for raising the speed of the foot robot under the jumping gait. Finally, the quadruped robot jump gait variable stiffness impedance control experiment is carried out, and the virtual prototype combined simulation and contrast experiment is carried out. The validity and validity of the variable stiffness impedance control method in high-speed and high-acceleration jumping gait are verified to improve the motion speed of foot robot. Finally, the four-legged robot is 10 times longer per second, high-speed and high-acceleration stable jump motion in jump gait.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242
本文編號：2451260
[Abstract]:With the further research in the field of foot robots, two branches of research are gradually formed: heavy load type and high speed type. However, only a few quadruped robots, like Cheetah in nature, have the ability of high-speed and high-speed motion. The traditional research on how to adjust leg impedance by physical impedance element to realize the low-speed motion of robot lags far behind the requirement of high-speed foot robot in the field of robot at present. Therefore, the high-speed quadruped bionic robot has been paid more and more attention by scholars at home and abroad. The research shows that the variable stiffness active impedance control can replace the traditional passive impedance control, which is of great significance to the acceleration of the robot's moving speed. The passive impedance control not only has a small range of stiffness adjustment, but also makes the structure cumbersome and complex, and the calculation of robot leg impedance requires idealized approximation of the sine force on the foot floor, and the calculation of the landing time can not be detected in real time. In this paper, the variable stiffness impedance control method of the high-speed jumping quadruped robot is studied, and the validity and correctness of the control method are verified by the joint simulation and comparison experiment. The main contents are as follows: firstly, aiming at the problems existing in the above passive impedance control methods, based on the active impedance control method, this paper combines the SLIP model with virtual impedance parameters. The analytical solution of leg stiffness and the relationship between leg stiffness and velocity are obtained by establishing the equilibrium equation of vertical force on the ground phase model. On the basis of this, the variable stiffness impedance control strategy is studied. Secondly, in order to verify the correctness and effectiveness of the variable stiffness impedance control method, the single leg subsystem is equivalent to a spring leg with virtual impedance parameters on the experimental platform, and the variable stiffness impedance control method is used. The robot height control, velocity control and Bessel curve foot trajectory planning method are also studied. On the basis of the above-mentioned control methods, the joint simulation experiments of the single leg subsystem are carried out. The experimental results show that the stiffness calculation method and the variable stiffness impedance control strategy are correct and effective in improving the speed of the robot. The leg stiffness calculation method is not only accurate, but also can meet the requirements of high-speed jump for real-time control system. Then, the plane model of quadruped robot is established, and the biphase jumping gait is analyzed. The control methods such as height control, velocity control, pitch angle control and mirror leg control are studied. By analyzing the plane model of the quadruped robot, the control force is transformed into the driving force, which provides a theoretical basis for verifying the correctness and effectiveness of the variable stiffness impedance control method for raising the speed of the foot robot under the jumping gait. Finally, the quadruped robot jump gait variable stiffness impedance control experiment is carried out, and the virtual prototype combined simulation and contrast experiment is carried out. The validity and validity of the variable stiffness impedance control method in high-speed and high-acceleration jumping gait are verified to improve the motion speed of foot robot. Finally, the four-legged robot is 10 times longer per second, high-speed and high-acceleration stable jump motion in jump gait.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242
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相關(guān)碩士學(xué)位論文 前3條
1 邴振山;面向高速奔跑足式機器人關(guān)節(jié)腿結(jié)構(gòu)與變阻抗控制研究[D];哈爾濱工業(yè)大學(xué);2015年
2 蔡昌榮;脊柱型四足機器人跳躍步態(tài)動力學(xué)建模及特性研究[D];哈爾濱工業(yè)大學(xué);2013年
3 王浩威;四足機器人跳躍步態(tài)參數(shù)分析及優(yōu)化研究[D];哈爾濱工業(yè)大學(xué);2011年
，本文編號：2451260
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