本文關(guān)鍵詞：基于STM32的單腿跳躍機(jī)器人控制系統(tǒng)研究　出處：《浙江大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 單腿跳躍機(jī)器人 嵌入式控制器 軌跡規(guī)劃 PID控制器 實(shí)驗(yàn)研究

【摘要】：足式機(jī)器人以其優(yōu)越的越障能力及地形適應(yīng)能力,正逐漸成為國內(nèi)外研究的前沿方向。單腿跳躍機(jī)器人作為足式機(jī)器人的一種,是研究多足機(jī)器人的必經(jīng)之路。通過對(duì)單腿跳躍機(jī)器人的研究,可以更好地掌握仿生機(jī)器人的運(yùn)動(dòng)規(guī)律和跳躍機(jī)理。另外,單腿跳躍機(jī)器人的動(dòng)態(tài)跳躍步態(tài)形式簡(jiǎn)單,是研究足式機(jī)器人動(dòng)態(tài)步態(tài)的理想平臺(tái)。本文圍繞液壓驅(qū)動(dòng)單腿跳躍機(jī)器人的控制器設(shè)計(jì)、豎直跳躍運(yùn)動(dòng)控制、機(jī)器人跳躍實(shí)驗(yàn)這三個(gè)部分展開。主要工作包括:(1)提出嵌入式控制系統(tǒng)上下位機(jī)的總體架構(gòu),采用STM32為主控芯片設(shè)計(jì)下位機(jī)硬件電路;完成包括初始化模塊、主程序模塊、中斷模塊的下位機(jī)軟件編寫;在LabVIEW開發(fā)環(huán)境下,編寫上位機(jī)界面。(2)對(duì)于機(jī)器人本體進(jìn)行運(yùn)動(dòng)學(xué)建模,主要是對(duì)雙關(guān)節(jié)結(jié)構(gòu)的機(jī)器人本體進(jìn)行關(guān)節(jié)運(yùn)動(dòng)分析。在此基礎(chǔ)上,提出機(jī)器人空中相固定姿態(tài),著地相跟蹤規(guī)劃軌跡的跳躍方式。分別提出基于SLIP模型和關(guān)節(jié)正弦模型的兩種著地相軌跡規(guī)劃方案,通過運(yùn)動(dòng)學(xué)逆解得出關(guān)節(jié)的角度變化規(guī)律。進(jìn)一步的,提出基于PID的關(guān)節(jié)角度控制策略:空中相采用PID控制器,著地相考慮柔順的需求,采用PD控制器。(3)完成機(jī)器人空中相的階躍響應(yīng)實(shí)驗(yàn)和頻率特性實(shí)驗(yàn)。通過在閉環(huán)階躍響應(yīng)實(shí)驗(yàn)中調(diào)定PID控制器的參數(shù),使得機(jī)器人的膝關(guān)節(jié)和髖關(guān)節(jié)表現(xiàn)出較好的動(dòng)態(tài)性能;通過測(cè)試機(jī)器人雙關(guān)節(jié)閉環(huán)正弦跟蹤,研究膝關(guān)節(jié)和髖關(guān)節(jié)的頻率特性情況。實(shí)驗(yàn)結(jié)果表明,膝關(guān)節(jié)和髖關(guān)節(jié)的截止頻率分別為6.6Hz和4.4Hz。(4)在防止"兩次點(diǎn)地"及收腿和伸腿階段采用不同的比例系數(shù)的條件下,整定完著地相PD控制器參數(shù)。同時(shí),討論控制策略切換的問題,并給出機(jī)器人著地和起跳條件。在上述研究基礎(chǔ)上,完成基于SLIP模型和關(guān)節(jié)正弦模型軌跡規(guī)劃的跳躍實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明模型的合理性。進(jìn)一步的,結(jié)合實(shí)驗(yàn)數(shù)據(jù)分析機(jī)器人跳躍過程中的一些特性,加深對(duì)機(jī)器人跳躍運(yùn)動(dòng)的認(rèn)識(shí)。為了減小機(jī)器人著地沖擊,提出著地相變軌跡結(jié)合更改著地判定條件的方法,并通過實(shí)驗(yàn)驗(yàn)證了它的有效性。最后,對(duì)本論文的研究工作進(jìn)行了總結(jié),并對(duì)后面的研究工作提出一些方向。
[Abstract]:Because of its superior ability of surmounting obstacles and adaptability to terrain, foot robot is gradually becoming the front direction of research at home and abroad. Single leg hopping robot is a kind of foot robot. It is the only way to study multi-legged robot. Through the research of single-legged hopping robot, we can better understand the movement law and jumping mechanism of bionic robot. The dynamic jumping gait of single leg hopping robot is simple, and it is an ideal platform to study the dynamic gait of foot robot. This paper focuses on the controller design and vertical jump motion control of single leg hopping robot driven by hydraulic pressure. The main work includes: 1) the overall architecture of the upper and lower computer of the embedded control system is proposed, and the hardware circuit of the lower computer is designed by using STM32 as the main control chip. Completed including initialization module, main program module, interrupt module of the lower computer software programming; In the LabVIEW development environment, the upper computer interface. 2) for the robot ontology kinematics modeling, mainly for the dual joint structure of the robot body joint motion analysis. On this basis. In this paper, the hopping mode of trajectory planning is proposed based on the fixed attitude and landing phase of the robot in the air, and two kinds of landing phase trajectory planning schemes based on SLIP model and joint sinusoidal model are proposed respectively. The angle change law of the joint is obtained by inverse kinematics. Furthermore, the joint angle control strategy based on PID is proposed: the PID controller is used in the air phase, and the requirement of compliance is considered in the landing phase. The step response experiment and the frequency characteristic experiment of the robot are completed by PD controller. The parameters of the PID controller are adjusted in the closed-loop step response experiment. The robot's knee joint and hip joint show better dynamic performance; The frequency characteristics of knee joint and hip joint were studied by testing the closed loop sinusoidal tracking of the robot's double joints. The cutoff frequencies of knee joint and hip joint were 6.6 Hz and 4.4 Hz respectively. At the same time, the control strategy switching problem is discussed, and the landing and take-off conditions of the robot are given. The jumping experiment based on the SLIP model and the joint sinusoidal model is completed. The experimental results show that the model is reasonable. Furthermore, some characteristics of the robot jumping process are analyzed with the experimental data. In order to reduce the impact of robot landing, the method of ground phase change trajectory combined with changing ground condition is put forward, and its effectiveness is verified by experiments. The research work of this paper is summarized, and some directions are put forward.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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