异构双腿行走机器人的联合仿真研究  

Research on Co-simulation of Biped Robot with Heterogeneous Legs

作　　者：程军[1] 宋华[1] 郝丽娜[2] 徐心和[2] 

机构地区：[1]辽宁科技大学机械工程与自动化学院,鞍山114044 [2]东北大学人工智能与机器人研究所,沈阳110004

出　　处：《系统仿真学报》2007年第21期4953-4956,共4页Journal of System Simulation

基　　金：国家自然科学基金(60475036);国家863计划(2001AA422270)

摘　　要：针对异构双腿行走机器人中的人工腿部分建立了运动学和动力学模型,并建立整个机器人实验平台的三维虚拟样机。在仿真软件ADAMS中对异构双腿行走机器人的运动学方程进行了验证,结合MATLAB的simulink模块对动力学方程及控制系统进行了联合仿真研究。针对机器人在不同的步态要求下的驱动力矩要求提出了一阶p型开闭环迭代学习控制算法,实验结果证明这种控制系统能够很好地追踪关节处的力矩并收敛于理想曲线,联合仿真平台的建立对于复杂机器人的开发具有重要意义。The kinematics and Lagrangian dynamics models of artificial leg in BRHL were built, and perceptual system of biped robot with heterogeneous legs （BRHL） was established, and the kinematics equation was validated by using software ADAMS. Test control system in the Co-simulation platform was studied by connecting MATLAB and ADAMS, Depending on different kind of walking gait data, the drive torques could be found through lterative Learning Control law in the co-simulation platform, The dynamics and control simulation were done on co-simulation platform, The results indicate co-simulation platform is excellent and economic to complex robot development .

关 键 词：异构双腿行走机器人 虚拟样机 联合仿真 迭代学习控制 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]