基于等效连杆模型的六足机器人行进姿态闭环控制

doi:10.13229/j.cnki.jdxbgxb20210109

吉林大学学报(工学版) ›› 2022, Vol. 52 ›› Issue (7): 1696-1708.doi: 10.13229/j.cnki.jdxbgxb20210109

• 通信与控制工程 • 上一篇

基于等效连杆模型的六足机器人行进姿态闭环控制

李昂¹(),杨泓渊^1,^2,³(),雷小萌¹,宋凯文¹,千承辉¹

^1.吉林大学仪器科学与电气工程学院，长春 130021
^2.吉林大学国家地球物理探测仪器工程技术研究中心，长春 130021
^3.吉林大学地球信息探测仪器教育部重点实验室，长春 130021

收稿日期:2021-02-01 出版日期:2022-07-01 发布日期:2022-08-08
通讯作者: 杨泓渊 E-mail:liang20@jlu.edu.cn;yang_hy@jlu.edu.cn
作者简介:李昂（1998-），男，博士研究生. 研究方向：机器人，地震勘探技术及仪器.E-mail：liang20@jlu.edu.cn
基金资助:
国家重点研发计划项目(2018YFC0603204)

Closed-loop control of traveling attitude of hexapod robot based on equivalent connecting link model

Ang LI¹(),Hong-yuan YANG^1,^2,³(),Xiao-meng LEI¹,Kai-wen SONG¹,Cheng-hui QIAN¹

^1.College of Instrumentation & Electrical Engineering，Jilin University，Changchun 130021，China
^2.National Engineering Research Center of Geophysics Exploration Instruments，Jilin University，Changchun 130021，China
^3.Key Laboratory of Geo?exploration Instruments，Ministry of Education，Jilin University，Changchun 130021，China

Received:2021-02-01 Online:2022-07-01 Published:2022-08-08
Contact: Hong-yuan YANG E-mail:liang20@jlu.edu.cn;yang_hy@jlu.edu.cn

摘要/Abstract

摘要：

为解决六足机器人全方位行进中姿态的实时独立规划问题，分析了机器人行进规划与姿态规划之间的耦合原因，提出了一种基于机身等效连杆思想的模型，并以该模型为核心实现了全向三角步态和姿态控制。样机实验结果表明，基于本模型的控制算法可在STM32F407微控制器中实时解算，闭环姿态控制的调节时间比传统双PI控制方法缩短了约80%。

关键词: 自动控制技术, 六足机器人, 机身等效连杆, 闭环姿态控制, 多足协调控制, 全方位移动, 实时解算

Abstract:

In order to solve the problem of real-time independent attitude planning of hexapod robot in omnidirectional marching， the coupling reason between the robot's motion planning and attitude planning was analyzed. A model based on the idea of body equivalent linkage was proposed， and the omnidirectional triangular gait and attitude control were realized based on the model. The experimental results of the prototype show that the control algorithm based on this model can be solved in real time in STM32F407 microcontroller， and the adjustment time of closed-loop attitude control is about 80% shorter than that of the traditional dual-PI control method.

Key words: automatic control technology, hexapod robot, fuselage equivalent link, closed-loop attitude control, multi-foot coordinated control, omnidirectional movement, real-time solution

中图分类号:

TP242

李昂,杨泓渊,雷小萌,宋凯文,千承辉. 基于等效连杆模型的六足机器人行进姿态闭环控制[J]. 吉林大学学报(工学版), 2022, 52(7): 1696-1708.

Ang LI,Hong-yuan YANG,Xiao-meng LEI,Kai-wen SONG,Cheng-hui QIAN. Closed-loop control of traveling attitude of hexapod robot based on equivalent connecting link model[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(7): 1696-1708.

图/表 26

图1

图2

图3

图4

图5

表1

D-H参数表"

i	θ_i	a_i_-1	α_i_-1
1	θ₁	0	0
2	θ₂	0	$π / 2$
3	θ₃	d₃	$- π / 2$
4	θ₄	d₄	$π / 2$
5	θ₅	d₅	0
6	0	d₆	0

表1

表2

各足CPi表"

足号	$C P i$
1	$C P 1 = 5.875 12.0 01 T$
2	$C P 2 = - 5.875 12.0 01 T$
3	$C P 3 = 9001 T$
4	$C P 4 = - 9 001 T$
5	$C P 5 = - 5.875 - 12.0 01 T$
6	$C P 6 = - 5.875 - 12.0 01 T$

表2

图6

图7

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图10

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基于等效连杆模型的六足机器人行进姿态闭环控制

Closed-loop control of traveling attitude of hexapod robot based on equivalent connecting link model

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