仿人机器人行走系统运动学和动力学研究

发布时间：2018-07-25 06:18

【摘要】：仿人机器人行走系统(简称：仿人行走系统)是仿人机器人技术研究的关键环节。其运动学分析是仿人机器人实现拟人化运动的基础,准确的运动学分析可为仿人行走系统的结构设计和优化提供必要的技术指标,并为仿人行走系统的步行控制奠定基础。多刚体机构在运动过程中不可避免的会出现奇异位姿,使其变成不可控机构。通过分析仿人行走系统的位姿奇异性,排除奇异位形,使仿人行走系统在运动过程中避开奇异位姿,提高机构的可控性。仿人机器人在行走过程中是否能够达到期望的位姿与其动力学密切相关。通过仿人行走系统的动力学研究,便于寻求仿人行走系统最优动力输出,减少机构总质量,降低能耗,从而增强仿人行走系统的续航能力。本论文在教育部新世纪人才项目“仿人机器人行走系统关键技术研究”的支持下,进行仿人行走系统的运动学和动力学研究。首先,以仿人行走系统步行运动的高度拟人化为设计目标,以提高动能的有效利用率为优化指标,对仿人行走系统进行了结构设计。分析仿人行走系统的结构特性,应用旋量理论描述刚体的运动,基于旋量法对仿人行走系统进行运动学建模。在求解仿人行走系统运动学逆解过程中,采用Paden-Kahan子问题和刚体运动学特性相结合的方法加以求解,解决了单纯的Paden-Kahan子问题无法求解仿人行走系统运动学逆解这一问题。将旋量法和传统D-H参数法进行对比分析,阐述了基于旋量理论对仿人行走系统运动学建模的优势,并通过实例验证了运动学建模的正确性。其次,由于仿人行走系统的速度雅克比矩阵为非满秩时,仿人行走系统会发生运动奇异,成为不可控的机构。基于旋量理论和机构的运动机理,建立仿人行走系统的奇异轨迹方程,从而获得仿人机器人的雅克比矩阵。对仿人行走系统的雅克比矩阵进行计算,得出其奇异位姿,为仿人行走系统步态控制环节奇异位姿的排除提供理论依据。然后,为了寻求仿人行走系统的最优动力输出,分别采用拉格朗日法和牛顿-欧拉法对仿人行走系统进行了动力学建模,比较两种方法在仿人行走系统动力学建模上的优缺点,并阐述了基于拉格朗日法对仿人行走系统动力学建模的优势。利用建立的动力学模型验证了电机选取的合理性,并提出优化方案。通过仿真实验验证了动力学建模的正确性。最后,对仿人行走系统进行运动规划,通过仿真实验进一步验证了基于旋量理论运动学建模的可行性,以及动力学分析中电机选取和优化的合理性。
[Abstract]:Humanoid robot walking system (abbreviated as humanoid walking system) is a key link in the research of humanoid robot technology. Kinematics analysis is the basis of humanoid robot to realize humanoid motion. Accurate kinematics analysis can provide necessary technical indexes for the structure design and optimization of humanoid walking system and lay a foundation for walking control of humanoid walking system. In the process of motion, the multi-rigid-body mechanism inevitably appears singularity, which makes it become an uncontrollable mechanism. By analyzing the position and pose singularity of humanoid walking system, the singularity can be eliminated, so that the humanoid walking system can avoid the singular pose and improve the controllability of the mechanism. Whether the humanoid robot can achieve the desired posture or not in the course of walking is closely related to its dynamics. By studying the dynamics of the humanoid walking system, it is convenient to seek the optimal power output, reduce the total mass of the mechanism and reduce the energy consumption, so as to enhance the live-on ability of the humanoid walking system. In this paper, the kinematics and dynamics of humanoid walking system are studied with the support of the new century talent project of Ministry of Education, "Research on key Technologies of humanoid Robot Walking system". Firstly, the humanization of the walking motion of humanoid walking system is taken as the design goal, and the effective utilization of kinetic energy is taken as the optimization index, and the structure of the humanoid walking system is designed. The structure characteristics of humanoid walking system are analyzed, and the motion of rigid body is described by spinor theory. The kinematics model of humanoid walking system is established based on spinor method. In the process of solving inverse kinematics solution of humanoid walking system, the Paden-Kahan sub-problem and rigid body kinematics characteristic are combined to solve the problem that the simple Paden-Kahan sub-problem can not solve the inverse kinematics solution of humanoid walking system. By comparing and analyzing the spinor method and the traditional D-H parameter method, the advantages of kinematics modeling of humanoid walking system based on spinor theory are expounded, and the correctness of kinematics modeling is verified by an example. Secondly, when the speed Jacobian matrix of humanoid walking system is non-full rank, the motion singularity of humanoid walking system will occur and become an uncontrollable mechanism. Based on spinor theory and mechanism of mechanism, the singular trajectory equation of humanoid walking system is established, and the Jacobian matrix of humanoid robot is obtained. The Jacobian matrix of humanoid walking system is calculated, and the singular pose is obtained, which provides a theoretical basis for the elimination of singular pose in gait control of humanoid walking system. Then, in order to find the optimal dynamic output of humanoid walking system, Lagrangian method and Newton-Euler method are used to model the dynamic model of humanoid walking system, and the advantages and disadvantages of the two methods in the dynamic modeling of humanoid walking system are compared. The advantage of dynamic modeling of humanoid walking system based on Lagrange method is discussed. The rationality of motor selection is verified by using the established dynamic model, and the optimization scheme is proposed. The correctness of the dynamic modeling is verified by simulation experiments. Finally, the kinematics planning of humanoid walking system is carried out, and the feasibility of kinematics modeling based on spinor theory and the rationality of motor selection and optimization in dynamic analysis are further verified by simulation experiments.
【学位授予单位】：长春工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP242;TB17

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