基于ARM的足式施工运输机器人腿部柔顺控制平台系统开发与测试  

Development and test of leg compliant control platform system forfoot type transport robot based on ARM

作　　者：朱雅光[1] 程志海[1] 郭童[1] 吴永平[1] 

机构地区：[1]长安大学道路施工技术与装备教育部重点实验室,陕西西安710000

出　　处：《机械设计》2016年第7期12-16,共5页Journal of Machine Design

基　　金：国家自然科学基金面上资助项目(51278058);陕西省自然科学基础研究计划青年人才资助项目(2016JQ6066);中国博士后科学基金资助项目(2016M592728);中央高校基本科研业务费专项资金创新团队资助项目(310825153403)

摘　　要：为解决足式施工运输机器人腿部控制柔顺性的问题,将ARM技术应用到机器人腿部柔顺性测试平台的搭建中。文中对机器人控制算法的稳定性和鲁棒性进行了分析,并提出了机器人平台硬件构架的设计方案,建立机器人腿部柔顺性控制平台。在此平台上,对自适应控制算法的控制性能进行了测试,完成了机器人电流检测试验,以及存在力传感器干扰和期望脚力指令干扰情况下机器人脚力跟踪试验。试验结果表明,该ARM控制平台能准确地控制机器人腿部的行走,实时测量机器人在运动过程中脚力及电流变化情况,证明了该算法能够实现脚力跟随,保证了机器人行走的稳定性。The ARM technologywas applied tothe platform construction of the leg compliant test in order to solve thecompliantproblem of leg control for the foot transport robot. The stability and robustness of the robot control algorithm were analyzed,and the hardware architecture design scheme of the robot platform was presented.The robot leg compliant control platform was established. The performance of the self-adaptive control algorithm was test on this platform to complete the experiments of robot current test and foot force track test with interference of force sensor and expected force command. Experimental results showed that the ARM control platform could control the robotlegs to walkaccurately, as well as measure the foot force and the current changes in the movement process inreal-time. The test results proved that this algorithm could realize the foot force following,whichensure the walking stability of the robot.

关 键 词：运输机器人 脚力 柔顺控制 鲁棒性 控制平台 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]