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针对步行机器人在实际运动中存在的运动误差问题,在介绍仿爬行类机器人Mini Quad-Ⅰ结构的基础上,建立了该类机器人的几何参数模型。讨论了该类四足步行机器人参数误差与结构尺寸及运动轨迹误差的关系,对该类机器人运动学的标定模型进行了详细研究。通过测量机器人在给定轨迹下运动时,机体位姿的变化及各关节运动角的实际运动角,对机器人的结构参数进行标定。开发了标定参数的自动计算系统,并以实例进行了说明。为建立机器人的相对精确控制模型奠定了基础。
Aiming at the motion error of walking robot in actual motion, the geometrical parameter model of this robot is established based on Mini Quad-Ⅰ structure. The relationship between the parameter error of the four-legged walking robot and its size and trajectory error is discussed. The calibration model of the robot kinematics is studied in detail. By measuring the robot movement in a given trajectory, the body posture changes and the actual angle of motion of each joint angle of motion, the robot’s structural parameters are calibrated. An automatic calculation system of calibration parameters was developed and illustrated by examples. It laid the foundation for establishing a relatively accurate control model of the robot.