自由落猫机器人时间最优下落轨迹研究

发布时间：2018-03-29 16:44

本文选题：自由落猫机器人　切入点：姿态调整　出处：《机器人》2017年03期

【摘要】：机器人在未知复杂环境下作业时,有从高处跌落的风险,所以需要考虑其空中的姿态调整能力,减轻由错误的着陆方式造成的伤害.当猫从高空坠落时,它总能通过自身调整安全落地.受这一生物学现象启发,通过研究猫能够安全落地的第一阶段,姿态调整阶段,首次提出以时间最优方式研究落猫机器人最优下落轨迹问题.首先利用轴对称双刚体模型导出机器人的数学模型,因为角速度不可积,将落猫机器人的姿态控制问题转变成非完整系统的运动规划问题.考虑到姿态调整所消耗的时间是决定调整结果较为重要的因素,随后以虚拟力矩输入取代真实角速度输入,建立时间优化函数,并构造了求解该函数的方法.然后以姿态调整耗时最短为控制目标,通过粒子群优化算法寻找目标最优解.最后运用所得最优解数据,在虚拟物理环境下进行了虚拟样机实验,并实现了落猫机器人的空中翻正动作.结果表明,该方法能有效地缩短自由下落机器人的姿态调整时间.
[Abstract]:The robot has the risk of falling from a height when it is operating in an unknown and complex environment, so it needs to consider its ability to adjust its attitude in the air to mitigate the damage caused by the wrong landing. When a cat falls from a high altitude, It can always adjust the safe landing by itself. Inspired by this biological phenomenon, by studying the first stage of the cat's safe landing, the posture adjustment stage, It is the first time to study the optimal falling trajectory of a cat-dropping robot by using the time-optimal method. Firstly, the mathematical model of the robot is derived by using the axisymmetric double-rigid body model, because the angular velocity is not integrable. In this paper, the attitude control problem of cat dropping robot is transformed into a motion planning problem of nonholonomic system. Considering that the time consumed by attitude adjustment is the most important factor to determine the adjustment result, virtual torque input is used to replace the real angular velocity input. The time optimization function is established, and the method to solve the function is constructed. Then the optimal solution of the target is found by particle swarm optimization (PSO) algorithm with the shortest attitude adjustment time as the control object. Finally, the optimal solution data are used. The virtual prototype experiment is carried out in the virtual physical environment, and the aerial righting motion of the cat-dropping robot is realized. The results show that the method can effectively shorten the attitude adjustment time of the free-fall robot.
【作者单位】：中国科学技术大学;中国科学院合肥物质科学研究院先进制造技术研究所;
【基金】：国家自然科学基金(51405470) 常州市应用基础研究计划(CJ20159004)
【分类号】：TP242

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