液压驱动多足机器人关节控制系统分析  

Analysis of Joint Motion Control System of Hydraulically Actuated Multi-legged Robots

作　　者：程萍[1] Cheng Ping(Shaoxing Vocational and Technical College,Shaoxing 312000,China)

机构地区：[1]绍兴职业技术学院

出　　处：《煤矿机械》2018年第12期72-74,共3页Coal Mine Machinery

基　　金：浙江省教育厅科研项目资助(Y201738751)

摘　　要：基于仿生原理设计了一种多足机器人的单腿结构,并完成关节运动控制的液压系统设计。对小腿液压缸位置控制系统中的关键元件进行数学模型推导的基础上,完成了控制系统模型的构建。针对控制系统快速响应性较差的缺点,采用PID算法设计了校正器,改善了控制系统的相关特性。A single leg structure of a multi-legged robot is designed based on bionic principle,then a hydraulic system of joint motion control is also designed.After the mathematical model of the key components in the position control system of the calf hydraulic cylinder is established,the control system model is constructed.According to the poor fast response of the control system,the corrector is designed by PID algorithm to improve the relevant characteristics of the control system.

关 键 词：液压驱动 机器人 PID 关节控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]