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. 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 YANG1,2,3(),Xiao-meng LEI1,Kai-wen SONG1,Cheng-hui QIAN1   

  1. 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:

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

图1

机体坐标系与参考坐标系对照图"

图2

足1的关节与连杆结构"

图3

机身坐标系中规划的足迹将在参考坐标系中失真"

图4

机身等效连杆结构"

图5

与足1相连的虚拟连杆"

表1

D-H参数表"

iθidiai-1αi-1
1θ1000
2θ200π/2
3θ30d3-π/2
4θ40d4π/2
5θ50d50
600d60

表2

各足CPi表"

足号CPi
1CP1=5.87512.001T
2CP2=-5.87512.001T
3CP3=9001T
4CP4=-9001T
5CP5=-5.875-12.001T
6CP6=-5.875-12.001T

图6

H、L系数示意图"

图7

运动的相对性分解图"

图8

平移、旋转运动轨迹分解图"

图9

机体坐标系下的右前足的足端轨迹仿真"

图10

机体坐标系下的右前足的足端运动轨迹仿真"

图11

右前足各关节转角仿真结果"

图12

机体坐标系下的右前足的足端轨迹仿真结果"

图13

{2}系下的右前足的足端仿真轨迹图"

图14

机身姿态、右前足各虚拟关节和电机关节转角仿真"

图15

样机实物"

图16

控制系统框图"

图17

姿态闭环控制"

图18

斜坡静态测试中的姿态角数值记录"

图19

六足机器人穿越起伏路面"

图20

穿越起伏路面测试中的姿态角记录"

图21

六足机器人穿越起伏路面测试中的俯仰角数值记录"

图22

上坡测试示意图"

图23

上坡测试"

图24

上坡测试中的俯仰角数值记录"

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