仿生六足机器人单腿控制系统  

Leg control system of hexapod robot

作　　者：才国锋 张赫[1] 陈杰[1] 刘玉斌[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《哈尔滨商业大学学报（自然科学版）》2016年第3期267-270,共4页Journal of Harbin University of Commerce：Natural Sciences Edition

基　　金：中央高校基本科研业务费专项资金资助(HIT.NSRIF.201644);国家自然科学基金资助项目(51105101)

摘　　要：对仿生六足机器人单腿进行了运动学分析,计算了足端位置与关节角位置之间的关系.关节由直流伺服电机驱动,采用电流环和位置环双层控制结构,电流环采用PI控制,位置环采用PID控制,在Simulink仿真中调整控制参数,使位置环的阶跃响应迅速并且超调振荡较小.采用三次多项式实现轨迹规划,使位置、速度和加速度都连续,保证了运动的平稳性.In this paper, the kinematics of the leg of hexapod robot was analyzed and the relationship between foot end position and joint angles were calculated. Joint was driven by a DC servo motor which was controlled by current loop and position control loop. Current was controlled by PI and position was controlled by PID. The control parameters were adjusted in Simulink simulation until the position loop has rapidly step response, little overshoot and small oscillation. In order to ensure smooth movement, trajectory planning was achieved through cubic polynomial so that position, velocity and acceleration are continuous.

关 键 词：仿生机器人 运动学分析 直流伺服电机控制 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]