四足步行机器人逆运动学分析  

Inverse Kinematic Analysis of Four- Legged Walking Robot

作　　者：陈亚[1] 王宇翔[1] 

机构地区：[1]北京石油化工学院机械工程学院,北京102617

出　　处：《昆明理工大学学报（自然科学版）》2014年第4期63-70,共8页Journal of Kunming University of Science and Technology(Natural Science)

基　　金：国家"863"高技术项目(2012AA041402)

摘　　要：对四足机器人进行了步态规划,并推导出其逆运动学方程,基于MATLAB建立其运动学模型,以末端轨迹作为输入曲线,得到各关节运动变化曲线.然后,将关节运动变化曲线作为机器人虚拟样机的驱动信号,可使机器人按照规划步态进行运动.研究结果验证了理论分析的正确性,为多足步行机器人运动控制分析提供了理论基础.The gait of four -legged robot is planned and the inverse kinematics function is deduced.The kinematics model is established based on MATLAB with the trajectory curve as the input signal and the curves of driving joint are then generated.The curves of driving joint are applied to joints control in the virtual prototype model and the motion of the robot is obtained according to the gait planning.The results demonstrate the validity of the theoretical analysis,which provides theoretical basis for the motion control analysis of multi -legged walking robot.

关 键 词：多足步行机器人 运动学分析 MATLAB 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]