多足移動機(jī)器人系統(tǒng)的動態(tài)穩(wěn)定性控制方法與實(shí)驗(yàn)研究.pdf

1、摘要多足移動機(jī)器人在運(yùn)動時，必須實(shí)時保證其在運(yùn)動過程中機(jī)器人的穩(wěn)定性，在其失穩(wěn)時能夠及時采取措施恢復(fù)穩(wěn)定，從而避免機(jī)器人在失穩(wěn)對機(jī)體造成損壞。本文對多足機(jī)器人在崎嶇地面的運(yùn)動的穩(wěn)定性的判定和在其失穩(wěn)的問題進(jìn)行了相關(guān)研究和分析，建立起相應(yīng)的穩(wěn)定性判據(jù)。本文首先對多足機(jī)器人平臺發(fā)展進(jìn)行簡單介紹。對整個足式機(jī)器人的發(fā)展過程做了大概分析，各種足式機(jī)器人優(yōu)缺點(diǎn)做了簡單概括。從幾何特性和物理特性方面進(jìn)行分析，將自然環(huán)境中的崎嶇地形歸納為四種典型地形

2、。以此為基礎(chǔ)，結(jié)合六足機(jī)器人的運(yùn)動和結(jié)構(gòu)特點(diǎn)，對六足機(jī)器人的運(yùn)動失穩(wěn)情形進(jìn)行分類。采用力學(xué)平衡分析方法，得到六足機(jī)器人維持穩(wěn)定性應(yīng)滿足的條件。分析六足機(jī)器人驅(qū)動空間、關(guān)節(jié)空間和運(yùn)動空間之間的映射關(guān)系，建立六足機(jī)器人的正逆運(yùn)動學(xué)模型，推導(dǎo)求得其運(yùn)動參數(shù)的計算方法；基于等效原理，獲得六足機(jī)器人實(shí)時重心處的等效慣性力和慣性力矩；將ZMP方法和FASM方法相結(jié)合，建立多足機(jī)器人的穩(wěn)定性判定方法。以多足機(jī)器人在崎嶇路面行走為例，通過仿真軟件vre

3、p與matlab相結(jié)合進(jìn)行相應(yīng)的補(bǔ)充驗(yàn)證。關(guān)鍵詞：多足機(jī)器人；崎嶇地形；穩(wěn)定性判據(jù)；穩(wěn)定性調(diào)整；vrepAbstractMultileggedmobilerobotmustguaranteethestabilityoftherobotintheprocessofmovementinrealtimewhenmovingitcantakemeasurestorestestabilityintimewhenit’sinstabilitytoa

4、voiddamagetothebodycausedbytheinstabilityoftherobot.Inthepaperrelatedresearchanalysisonthestabilitydeterminationofmultileggedrobotsmovementontheroughterrainitsinstabilityproblemestablishthecrespondingstabilitycriteria.In

5、thepaperfirstlythedevelopmentofmultileggedrobotplatfmismadeabriefintroduction.Thedevelopmentprocessofthewholeleggedrobotisanalyzed.Theadvantagesdisadvantagesofleggedrobotaresimplesummarized.Fromthegeometricacteristicsthe

6、acteristicsofthehousetoanalyzetheroughterraininthenaturalenvironmentisdividedintofourtypicalterrain.Basedonthatmakeclassificationofsixleggedrobotsmotioninstabilitybycombiningwiththemotionstructureacteristicsofthesixlegge

7、drobot.Theanalysismethodofmechanicalequilibriumisadoptedtoobtaintheconditionsfthesixleggedrobottomaintainstability.Themappingrelationshipbetweenthedrivingspacejointspacemotionspaceofsixleggedrobotareanalyzed.Afwardinvers

8、ekinematicsmodelofsixleggedrobotisestablishedtoobtainthecalculationmethodofthemotionparametersbasedontheequivalenceprincipletheequivalentinertiafcemomentofinertiaofthesixleggedrobotinrealtimeareobtainedtheZMPmethodtheFAS

9、Mmethodarecombinedtoestablishamethodfjudgingthestabilityofmultileggedrobot.Takethemultileggedrobotintheroughterrainasanexampletosupplementthecrespondingverificationbyvrepsimulationsoftwarematlabvrepcombination.Keywds:Mul