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

Abstract

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

CLC Number:

TP242

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.

Figures/Tables 26

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Table 1

D-H parameter table"

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

Table 1

Table 2

Each foot CPi table"

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	$C P 6 = - 5.875 - 12.0 01 T$

Table 2

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

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