基于ZMP控制器的仿真机器人偏摆力矩控制设计  

Design of Double Closed Loop Control Structure of Robot Yaw Moment Based on ZMP Controller

作　　者：刘小翠 Liu Xiaocui(Henan Logistics Vocational College,Zhengzhou Henan 453514,China)

机构地区：[1]河南物流职业学院,河南郑州453514

出　　处：《现代工业经济和信息化》2024年第8期110-112,共3页Modern Industrial Economy and Informationization

摘　　要：针对仿真机器人步行过程中存在的机器人关节角加速度约束影响问题,设计了一种基于零力矩点(ZMP)控制器的仿真机器人偏摆力矩控制方法。选用HPR-2机器人和BRZ机器人开展偏摆力矩控制试验测试分析研究结果表明:相比较HPR-2机器人,BRZ机器人具有较大质量并且受到电机物理结构的约束,设计ZMP控制可以有效防止发生削峰现象。相比较未设计ZMP控制,设计ZMP控制的方法2偏摆力矩更低,可以更有效地控制在安全范围中,充分消除偏摆力矩造成的影响。该研究能够提高仿真机器人运行稳定性,表现出优异的控制性能以及实际应用价值。Aiming at the constraint effect of joint angular acceleration in the walking process of simulated robots,a yaw torque control method of simulated robots based on zero moment point(ZMP)controller was designed.HPR-2 robot and BRZ robot are selected to carry out yaw moment control experiments and the results show that,compared with HPR-2 robot,BRZ robot has larger mass and is constrained by the physical structure of the motor,and the design of ZMP control can effectively prevent the phenomenon of peak clipping.Compared with undesigned ZMP control,method 2 designed ZMP control has lower yaw moment,which can be controlled more effectively in the safe range and fully eliminate the influence caused by yaw moment.This research can improve the running stability of the simulated robot,show excellent control performance and practical application value.

关 键 词：仿真机器人 偏摆力矩 关节角加速度 零力矩点 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]