基于运动精确度的步行机器人轨迹跟踪中控制节点的契比雪夫插值研究  

Research of control node′s Chebyshev interpolation based on movement accuracy for walking robot trajectory tracking

作　　者：王良文[1] 唐维纲[1] 王新杰[1] 何彩繁 

机构地区：[1]郑州轻工业学院机电工程学院,河南郑州450002 [2]上海华龙测试仪器有限公司,上海201202

出　　处：《机械设计》2011年第9期21-25,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50875246)

摘　　要：研究在轨迹跟踪中以契比雪夫函数确定运行轨迹的控制节点,对多足步行机器人期望的质心轨迹逼近,以提高机器人的运动精度问题;在对相关理论进行描述的基础上,以机器人ZQROT-I运行给定二次曲线轨迹为例,利用ADAMS,对该机器人在运行过程中采用相同轨迹函数及不同控制节点对机器人运动精度的影响进行了比较分析。分析结果可以作为机器人优化控制方案的依据。The movement accuracy of multi-legged walking robot is closely related to the selection of the movement locus function and control node in trajectory tracking.In trajectory tracking,to research on the effect of different control nodes on movement accuracy of robot,Chebyshev function is adopted to determine the control node in mass center′s track,approximating the expected mass center′s trajectory of the multi-legged robot,improving the movement accuracy of robot.The related theory is discussed.As an example, it is analyzed in ADAMS that the effect of different control nodes on the movement accuracy of ZQROT-I operated in quadratic curve gate when the locus functions are identical,the result of which can be used as the basis of optimal control project of robot.

关 键 词：多足步行机器人 运动精度 轨迹跟踪 控制节点 契比雪夫插值 

分 类 号：TP22[自动化与计算机技术—检测技术与自动化装置]