基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真  

Co-simulation of Motion Trajectory Planning and Control of Biped Robot Based on ADAMS and MATLAB

作　　者：杨晓玉 富荣昌[1] 王文远 Yang Xiaoyu;Fu Rongchang;Wang Wenyuan(College of Mechanical Engineering,Xinjiang University,Urumqi 830047,China)

机构地区：[1]新疆大学机械工程学院,乌鲁木齐830047

出　　处：《煤矿机械》2022年第1期6-9,共4页Coal Mine Machinery

摘　　要：相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。Compared with the instability of ADAMS simulation,the reliability and efficiency of biped robot trajectory planning and control design were studied by using the co-simulation of ADAMS and MATLAB.Firstly,the three-dimensional parameter model of biped robot was drawn for inverse kinematics analysis.After verifying its rationality,it is imported into ADAMS to add constraints for dynamic simulation.Based on this,the polynomial interpolation method was used to complete the gait planning of the model in MATLAB.Finally,the block diagram of the control system was established by using the Simulink test-bed.After the joint angle was input by ADAMS,the console outputs the driving torque of the joint,and the biped robot co-simulation of ADAMS and MATLAB was completed.The simulation results show that compared with the fluctuation of ADAMS simulation,the data obtained by joint simulation is more stable,this method is efficient and feasible,and can be used as an important theoretical basis for the motor selection of the control system of biped robot in the next step.

关 键 词：双足机器人 ADAMS 运动学分析 轨迹规划 联合仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]