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分析了六足机器人的运动学特性,建立了摆动腿的动力学模型并采用鲁棒自适应PD控制算法对各关节位置和速度进行了轨迹跟踪仿真研究。首先,根据六足机器人的结构特点定义了机体坐标系及各腿跟关节坐标系,建立了单腿运动学D-H模型,运用数值仿真软件对足端运动空间进行了仿真研究。其次,运用拉格朗日方法建立了六足机器人摆动腿的动力学模型,并对其进行了规范化处理。最后,采用鲁棒自适应PD控制算法对六足机器人的关节位置、速度进行了轨迹跟踪控制的仿真研究。仿真结果验证了该算法对此类机器人关节位置、速度轨迹跟踪控制的有效性。
The kinematics characteristics of hexapod robot are analyzed, the dynamic model of swing leg is established, and trajectory tracking simulation of position and velocity of each joint is carried out by robust adaptive PD control algorithm. First of all, according to the structural features of hexapod robot, the coordinate system of the body and the coordinate system of each leg and joint are defined. The D-H model of one-leg kinematics is established, and the simulation of the foot-end space is simulated by numerical simulation software. Secondly, the dynamic model of six-legged robot’s swinging leg is established by Lagrange method and normalized. Finally, the robust adaptive PD control algorithm is used to simulate the trajectory tracking control of hexapod robot joint position and velocity. The simulation results verify the effectiveness of the algorithm for tracking and controlling the joint position and speed of the robot.