基于Virtools的仿生六足机器人关节舵机运动仿真  

Servo movement simulation of bionic hexapod robot based on Virtools

作　　者：胡存[1] 刘敬猛[1] 陈伟海[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《中国测试》2012年第3期65-68,共4页China Measurement & Test

基　　金：国家自然科学基金项目(61175108)

摘　　要：为了实现基于Virtools软件的仿生六足机器人运动仿真,解决其关键问题——机器人关节舵机的运动模拟,提出了基于Virtools Physics Pack的解决方案。该方案的核心问题在于Torque Factor参数的设定,为了使舵机快速、平稳的运动到指定位置,根据舵机需要运动的角度动态调节Torque Factor参数值。实验表明:该方法能有效地使舵机在运动快速性与平稳性之间达到平衡,从而改善整个机器人的运动状况。In this paper, a solution based on Virtools Physics Pack was presented. It was used to simulate the movement of bionic hexapod robot based on Virtools and solve the critical technique, i.e., the motion simulation of the robot joints servo. The key technique of this solution is how to set the parameter Torque Factor to get the servo movement to a specified location quickly and smoothly. A method which is according to the needed angle of servo movement dynamically adjusting the parameter Torque Factor was put forward. The experimental results show that the solution this paper proposed can make a balance between rapidity and stability of the servo movement effectively and then the whole condition of the movement of the robot can be improved.

关 键 词：仿生六足机器人 舵机 运动仿真 Virtools软件 TORQUE FACTOR 

分 类 号：TP242.1[自动化与计算机技术—检测技术与自动化装置] TP391.92[自动化与计算机技术—控制科学与工程]