四足步行机动平台半圆柱形足端偏差分析
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摘要
通过正逆运动学分析和足端轨迹规划,提出通过分析半圆柱形足端轨迹目标规划点(Objective Programming Point,OPP)与实际规划点(Actual Programming Point,APP)的相对位置关系来解决机动平台足端轨迹偏差问题的方法。首先,将支撑段机体的运动轨迹等效到足端;然后,通过足端轨迹的OPP与APP之间相对位置关系,给出由APP轨迹计算OPP轨迹的方法;最后,对足端轨迹OPP与APP在4种相对位置关系下机动平台足端在摆动相和支撑相的偏差问题进行了分析。研究结果对认识半圆柱形足端偏差的产生机理和误差补偿具有参考意义。
Through forward and inverse kinematics analysis and foot trajectory programming,a method to solve the problem of foot-end trajectory deviation of walking vehicle is proposed by analyzing the relative position relationship between the Objective Programming Point(OPP) of semi-cylindrical foot trajectory and the Actual Programming Point(APP). Firstly,the motion trajectory of the body in the support section is equivalent to the foot-end. Then,based on the relative position relation between the OPP and the APP,the method of calculating the OPP trajectory from the APP trajectory is given. At last,the deviation between the swing phase and the supporting phase of the walking vehicle foot under four kinds of relative position relations between the OPP of the foot trajectory and the APP is analyzed. The research results have reference significance for understanding the mechanism and error compensation of semi-cylindrical foot-end deviation.
Through forward and inverse kinematics analysis and foot trajectory programming,a method to solve the problem of foot-end trajectory deviation of walking vehicle is proposed by analyzing the relative position relationship between the Objective Programming Point(OPP) of semi-cylindrical foot trajectory and the Actual Programming Point(APP). Firstly,the motion trajectory of the body in the support section is equivalent to the foot-end. Then,based on the relative position relation between the OPP and the APP,the method of calculating the OPP trajectory from the APP trajectory is given. At last,the deviation between the swing phase and the supporting phase of the walking vehicle foot under four kinds of relative position relations between the OPP of the foot trajectory and the APP is analyzed. The research results have reference significance for understanding the mechanism and error compensation of semi-cylindrical foot-end deviation.
引文
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[12]王新杰.多足步行机器人运动及力规划研究[D].武汉:华中科技大学,2005:73.
[2]柯贤锋,王军政,何玉东.基于力反馈的液压足式机器人主/被动柔顺性控制[J].机械工程学报,2017(1):13-20.
[3]GUARDABRAZO T A,JIMENEZ M A,Gonzalez P.Analysing and solving body misplacement problems in walking robots with round rigid feet[J].Robotics and autonomous system,2006,54:256-264.
[4]陈诚.具有半球形足端的六足机器人步态生成和能耗优化研究[D].杭州:浙江大学,2012:14.
[5]陈刚.六足步行机器人位姿控制及步态规划研究[D].杭州:浙江大学,2012:14.
[6]FANG L,GAO F.Type D and behavior control for six legged robots[J].Chinese journal of mechanical engineering,2018(3):11-22.
[7]汪首坤,宗晓艳,陈光荣.基于对角步态下的液压4足机器人能耗研究[J].北京理工大学学报,2016,36(4):399-404,416.
[8]陈斌,王建华,陈伟海,等.蟑螂机器人崎岖路面行走算法设计与实现[J].北京航空航天大学学报,2011,37(7):795-800.
[9]王立鹏,王军政,汪首坤,等.基于足端轨迹规划算法的液压四足机器人步态控制策略[J].机械工程学报,2013,49(1):39-44.
[10]MICHELE F.Stragies to improve the impedance control performance of a quadruped robot[D].Italy:University of Genoa,2013:74.
[11]张帅帅.复杂地形环境中四足机器人行走方法研究[D].济南:山东大学,2016:34.
[12]王新杰.多足步行机器人运动及力规划研究[D].武汉:华中科技大学,2005:73.