转向盘式全方位六足机器人运动分析及控制  

Kinematic analysis and control of omnidirectional hexapod robot with a steering-wheel

作　　者：王国富[1] 高峰[1] 徐国艳[1] 

机构地区：[1]北京航空航天大学交通科学与工程学院,北京100191

出　　处：《吉林大学学报（工学版）》2012年第4期1008-1014,共7页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2010AA101405)

摘　　要：提出了一种腿式机器人与转向盘复合的全方位步行机构,介绍了其独特的运动特点和转向性能;为了实现对其良好的运动控制,建立了该步行机器人转向机构在运动过程中的等效机构模型,采用拉格朗日力学法推导出操作臂的动力学方程;通过对样机模型的运动规划和实验研究,证明了转向盘式全方位机器人具有简单灵活、精确的方向可操控性。An omnidirectional walking mechanism which synthesizes legged robot and steering-wheel was proposed, the specific motion features and steering performance were introduced. To achieve a good result of motion control, equivalent manipulator model of the steering mechanism was built, and the dynamics were developed by means of Lagrangian dynamic approach. The motion planning and experiments on the prototype validate that the omnidirectional robot with a steering wheel can be manipulated simply, flexibly and accurately.

关 键 词：自动控制技术 六足机器人 全方位运动 转向盘 步行车辆 月球车 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]