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基于速度逆運動學的六足步行機器人位姿閉環(huán)控制
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國家自然科學基金委員會創(chuàng)新研究群體科學基金資助項目(51221004)和浙江省重點科技創(chuàng)新團隊計劃資助項目(2010R50036)


Position-posture Closed-loop Control of Six-legged Walking Robot Based on Inverse Velocity Kinematics
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    摘要:

    六足步行機器人位姿控制系統(tǒng)是強耦合冗余非線性系統(tǒng),對單腿速度逆運動學進行研究,建立六足步行機器人速度逆運動學模型,對六足步行機器人位置和姿態(tài)進行解耦控制。對機器人位置和姿態(tài)采用比例控制策略,建立機器人位置控制閉環(huán)和姿態(tài)控制閉環(huán)實現(xiàn)六足步行機器人位姿閉環(huán)控制?;诹悴叫袡C器人平臺,由MATLAB和ADAMS建立六足步行機器人仿真模型,并對六足步行機器人位姿閉環(huán)控制進行聯(lián)合仿真,仿真結果驗證了六足步行機器人位姿閉環(huán)控制方法的正確性。

    Abstract:

    Position-posture control system of six-legged walking robot has the characteristics: tight coupling, redundancy, nonlinearity. An inverse velocity kinematics model of six legged walking robot was constructed through research on inverse velocity kinematics of single leg. Then the control on position and posture of six-legged walking robot was decoupled to two closed-loops control, the position and the posture closed-loop control, based on the inverse velocity kinematics. The proportional control strategy was employed to implement the closed-loop control on the position posture of six-legged walking robot. Finally, a co-simulation on the closed-loop control on the position-posture of six-legged walking robot was carried out by using MATLAB and ADAMS, and the results verify that the method of closed-loop control on the position-posture of six-legged walking robot is correct.

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陳 剛,金 波,陳 鷹.基于速度逆運動學的六足步行機器人位姿閉環(huán)控制[J].農業(yè)機械學報,2014,45(5):265-270. Chen Gang, Jin Bo, Chen Ying. Position-posture Closed-loop Control of Six-legged Walking Robot Based on Inverse Velocity Kinematics[J]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(5):265-270.

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  • 收稿日期:2013-04-08
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  • 在線發(fā)布日期: 2014-05-10
  • 出版日期: 2014-05-10