基于STM32的单腿跳跃机器人控制系统研究

发布时间：2018-01-06 21:24

本文关键词：基于STM32的单腿跳跃机器人控制系统研究　出处：《浙江大学》2017年硕士论文　论文类型：学位论文

【摘要】：足式机器人以其优越的越障能力及地形适应能力,正逐渐成为国内外研究的前沿方向。单腿跳跃机器人作为足式机器人的一种,是研究多足机器人的必经之路。通过对单腿跳跃机器人的研究,可以更好地掌握仿生机器人的运动规律和跳跃机理。另外,单腿跳跃机器人的动态跳跃步态形式简单,是研究足式机器人动态步态的理想平台。本文围绕液压驱动单腿跳跃机器人的控制器设计、竖直跳跃运动控制、机器人跳跃实验这三个部分展开。主要工作包括:(1)提出嵌入式控制系统上下位机的总体架构,采用STM32为主控芯片设计下位机硬件电路;完成包括初始化模块、主程序模块、中断模块的下位机软件编写;在LabVIEW开发环境下,编写上位机界面。(2)对于机器人本体进行运动学建模,主要是对双关节结构的机器人本体进行关节运动分析。在此基础上,提出机器人空中相固定姿态,着地相跟踪规划轨迹的跳跃方式。分别提出基于SLIP模型和关节正弦模型的两种着地相轨迹规划方案,通过运动学逆解得出关节的角度变化规律。进一步的,提出基于PID的关节角度控制策略:空中相采用PID控制器,着地相考虑柔顺的需求,采用PD控制器。(3)完成机器人空中相的阶跃响应实验和频率特性实验。通过在闭环阶跃响应实验中调定PID控制器的参数,使得机器人的膝关节和髋关节表现出较好的动态性能;通过测试机器人双关节闭环正弦跟踪,研究膝关节和髋关节的频率特性情况。实验结果表明,膝关节和髋关节的截止频率分别为6.6Hz和4.4Hz。(4)在防止"两次点地"及收腿和伸腿阶段采用不同的比例系数的条件下,整定完着地相PD控制器参数。同时,讨论控制策略切换的问题,并给出机器人着地和起跳条件。在上述研究基础上,完成基于SLIP模型和关节正弦模型轨迹规划的跳跃实验,实验结果表明模型的合理性。进一步的,结合实验数据分析机器人跳跃过程中的一些特性,加深对机器人跳跃运动的认识。为了减小机器人着地冲击,提出着地相变轨迹结合更改着地判定条件的方法,并通过实验验证了它的有效性。最后,对本论文的研究工作进行了总结,并对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.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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