陈 刚,金 波,陈 鹰.基于速度逆运动学的六足步行机器人位姿闭环控制[J].农业机械学报,2014,45(5):265-270.
Chen Gang,Jin Bo,Chen Ying.Position-posture Closed-loop Control of Six-legged Walking Robot Based on Inverse Velocity Kinematics[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(5):265-270.
摘要点击次数: 3354
全文下载次数: 2267
基于速度逆运动学的六足步行机器人位姿闭环控制   [下载全文]
Position-posture Closed-loop Control of Six-legged Walking Robot Based on Inverse Velocity Kinematics   [Download Pdf][in English]
投稿时间:2013-04-08  
DOI:10.6041/j.issn.1000-1298.2014.05.041
中文关键词:  六足步行机器人 速度逆运动学 位姿 闭环控制
基金项目:国家自然科学基金委员会创新研究群体科学基金资助项目(51221004)和浙江省重点科技创新团队计划资助项目(2010R50036)
作者单位
陈 刚 浙江大学 
金 波 浙江大学 
陈 鹰 浙江大学 
中文摘要:六足步行机器人位姿控制系统是强耦合冗余非线性系统,对单腿速度逆运动学进行研究,建立六足步行机器人速度逆运动学模型,对六足步行机器人位置和姿态进行解耦控制。对机器人位置和姿态采用比例控制策略,建立机器人位置控制闭环和姿态控制闭环实现六足步行机器人位姿闭环控制。基于六足步行机器人平台,由MATLAB和ADAMS建立六足步行机器人仿真模型,并对六足步行机器人位姿闭环控制进行联合仿真,仿真结果验证了六足步行机器人位姿闭环控制方法的正确性。
Chen Gang  Jin Bo  Chen Ying
Zhejiang University;Zhejiang University;Zhejiang University
Key Words:Six-legged walking robot Inverse velocity kinematics Position posture Closed-loop control
Abstract:Position-posture control system of six-legged walking robot has the characteristics: tight coupling, redundancy, nonlinearity. An inverse velocity kinematics model of six legged walking robot was constructed through research on inverse velocity kinematics of single leg. Then the control on position and posture of six-legged walking robot was decoupled to two closed-loops control, the position and the posture closed-loop control, based on the inverse velocity kinematics. The proportional control strategy was employed to implement the closed-loop control on the position posture of six-legged walking robot. Finally, a co-simulation on the closed-loop control on the position-posture of six-legged walking robot was carried out by using MATLAB and ADAMS, and the results verify that the method of closed-loop control on the position-posture of six-legged walking robot is correct.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

   下载PDF阅读器