基于小驱动力矩函数驱动的多足步行机器人轨迹规划问题研究  

Research of trajectory planning problem about multi-legged walking robots based of small driving moment function

作　　者：王良文[1] 李安生[1] 陈卫红[1] 王传鹏[1] 穆小奇[1] 

机构地区：[1]郑州轻工业学院机电工程学院,河南郑州450002

出　　处：《机械设计》2013年第2期13-17,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50875246);河南省高校科技创新团队支持计划资助项目(2012IRTSTHN013)

摘　　要：在研究轨迹规划中,用小驱动力矩函数控制机器人的质心运动,降低机器人关节的驱动电机的功率问题。文中首先对相关理论进行了描述,根据多足步行机器人的运动关系导出机器人的质心运动规律与关节驱动变化在能耗上的联系,并利用泛函理论导出小驱动力矩函数。在机器人ZQROT-I运行直线步态过程中,采用该函数控制机器人质心的运动,利用ADAMS对机器人的运动性能进行了分析,并将结果与机器人轨迹控制中采用其他函数的运行结果进行了对比分析。结果表明,采用小驱动力矩函数控制机器人的质心轨迹运动,在节省机器人运行能耗方面有一定的作用。In this paper, controlling the motion of mass center of robot by using small driving moment function is discussed to re- duce motor＇ s drive power of robot joint. First, correlation theory is described; the energy consumption relation between robot mass mo- tion rules and joint drive changes is obtained from motion relation of multi-legged walking robot. Then, small driving moment function is obtained by the use of functional analysis theory. In the process of robot ZQROT - I running the straight gait, this function was used to control mass motion of robot ; motion performance of the robot is an- alyzed with ADAMS. The robot＇ s motion performance when using other control function which usually used in controlling robot track is compared with the result of the above. Analysis result indicates that control mass motion of robot with small driving moment function has certain effect on saving working energy of robot.

关 键 词：多足步行机器人 轨迹规划 力矩 能耗 仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]