液压驱动单腿跳跃机器人柔顺着地分析与控制

发布时间：2018-04-14 15:16

本文选题：机器人 + 液压驱动　；参考：《仪器仪表学报》2017年03期

【摘要】：为缓解液压驱动足式机器人动态步态行走时着地瞬间足端冲击对机器人系统及其运动控制的影响,提出了一种基于关节运动规划的机器人柔顺着地控制方法。以液压驱动单腿跳跃机器人为研究对象,分析机器人足端着地冲量,通过选择合适的机器人着地姿态和减小机器人着地前足端速度实现机器人柔顺着地,为此在空中相进行余弦速度曲线关节运动轨迹规划,以及着地相进行余弦函数关节运动轨迹规划。将该方法分别应用于基于MATLAB/Simulink软件建立的仿真模型和试验样机进行单腿竖直跳跃控制实验,仿真和试验结果显示采用该方法的机器人跳跃控制消除了足端着地瞬间地面作用力在膝关节液压缸无杆腔形成的液压冲击,实验结果表明提出的基于关节运动规划的机器人柔顺着地控制方法合理可行。
[Abstract]:In order to alleviate the impact of the impact on the robot system and its motion control during the dynamic gait movement of the hydraulic driven foot robot, this paper presents a method of compliant landing control for the robot based on joint motion planning.Taking the hydraulic driven single-legged hopping robot as the research object, the impulse of the robot's foot landing is analyzed, and the robot's compliant landing is realized by selecting the appropriate robot landing posture and reducing the robot's forward foot speed.Therefore, cosine velocity curve joint motion trajectory planning and landing phase cosine function joint motion trajectory planning are carried out in the air phase.The method is applied to the single leg vertical jump control experiment based on the simulation model established by MATLAB/Simulink software and the experimental prototype, respectively.The simulation and experimental results show that the robot jumping control with this method eliminates the hydraulic impact formed by the ground force at the moment of landing on the knee joint hydraulic cylinder.The experimental results show that the proposed robot compliant landing control method based on joint motion planning is reasonable and feasible.
【作者单位】：浙江大学流体动力与机电系统国家重点实验室;
【基金】：国家自然科学基金创新研究群体科学基金(51521064);国家自然科学基金(41506116)项目资助
【分类号】：TP242

【相似文献】