双腿轮式机器人运动控制研究  

Motion Control Study of Two-legged Wheeled Robot

作　　者：余坼操 马心知 朱学军[1] 杨旭东 赖惠鸽[1] 杨爱迪 YU Checao;MA Xinzhi;ZHU Xuejun;YANG Xudong;LAI Huige;YANG Aidi(School of Mechanical Eng.,Ningxia Univ.,Yinchuan 750021,China;Anhui Feidi Aviation Technol.Co.,Ltd.,Hefei 230026,China)

机构地区：[1]宁夏大学机械工程学院,宁夏银川750021 [2]安徽飞迪航空科技有限公司,安徽合肥230026

出　　处：《工程科学与技术》2024年第5期156-167,共12页Advanced Engineering Sciences

基　　金：国家自然科学基金项目(51765056);宁夏大学研究生创新项目(CXXM202418)。

摘　　要：双腿轮式机器人融合了足式与轮式机器人的优势,展现出灵活性和高速高效特性。然而,精确控制这类机器人需要对运动学和动力学模型进行深入研究。此外,欠驱动、强耦合和非线性等控制难点也进一步加剧了机器人运动与自平衡控制的挑战。为应对这一挑战,本文提出一种分布式动力学建模策略,分别对机器人的躯干及腿轮子系统进行了精确建模,保留了机器人的所有动力学特性,并据此设计出以腿轮末端输出力矩为控制目标的力矩解算器。随后,基于该模型创新性地提出一种全身力矩控制框架,旨在实现双腿轮式机器人的运动控制和动态平衡。为进一步提升其运动性能,还规划了多运动模式,并成功地集成到全身力矩控制系统中。在MATLAB环境下搭建了双腿轮式机器人仿真实验平台,设计了两种行走实验方案和3种不同跳跃高度的仿真实验。实验结果表明,行走速度误差小于0.09 m/s,跳跃高度误差控制在0.02 m以内,验证了控制策略的可行性。最后,搭建了腿轮融接型复合结构的双腿轮式机器人,成功开展了机器人多运动模式实验,进一步证实了机器人在运动控制作业中的高精度表现,其躯干高度误差在3.38 mm以内,俯仰角误差不超过0.04 rad。研究结果充分验证了分布式全身动力学建模的精确性以及全身力矩控制系统的有效性,为双腿轮式机器人的运动控制研究提供了新的理论框架和实践指导。Objective The two-legged wheeled robot is a new type of composite ground mobile robot constituted by designing wheels at the end of the legs of footed robots,which combines the improved maneuverability and flexibility of traditional wheeled mobile platforms and footed robotic structures and has enhanced application scenarios and research value.However,the motion control of the two-legged wheeled robot is highly dependent on an accurate dynamics model.At the same time,it has control difficulties such as underdrive,strong coupling,and nonlinearity.These challenges lead to difficulties in achieving effective motion control and self-balancing of the robot.Therefore,proposing an efficient method for the motion control of a two-legged wheeled robot is of great practical significance.Methods This study adopts the idea of a distributed model to establish the dynamics model of the leg-wheel and torso subsystems and address the issue with the huge structure of the overall dynamics model of the two-legged wheeled robot,which is not conducive to characterization and the construction of the controller.These models retain all the dynamics characteristics of the robot and connect them to the inter-module motion/force transfer relationship to complete the whole-body dynamics with the wheel-leg-torso interaction force as the end output force model.Thereafter,the joint moment solver,with the end output force as the task space,is constructed based on this model.It includes feed-forward compensation of the rod inertia force caused by the initial state quantity performed by the observation signal.Then,a distributed control framework with torso position as the task space is proposed to plan the torso joint force and joint moment hierarchically,and the walking motion control architecture based on the whole-body moment is constructed.Based on this walking motion control architecture,an adaptive planning method for the longitudinal trajectory of the torso in jumping motion is proposed,giving the torso the longitudinal velocity required f

关 键 词：双腿轮式机器人 分布式模型 力矩控制 运动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]