摘要
针对四足机器人在不同位置与控制模式下内力较大的问题,建立液压四足机器人动力学方程,实现液压机器人关节轴运动。同时,采用关节位置控制方法,在关节位置实现精准控制,解决机器人柔性控制和外部干扰问题,稳健设计方法。
Aiming at the problem that the internal force of the quadruped robot is large under different positions and control modes,the dynamic equation of the hydraulic four-legged robot is established to realize the joint movement of the hydraulic robot. At the same time, the joint position control method is adopted to achieve precise control at the joint position, solving the problem of flexible control and external interference of the robot, and a robust design method.
作者
张彦陟
Zhang Yanzhi(Minnan University of Science and Technology, Shishi 362700)
出处
《现代制造技术与装备》
2019年第3期44-45,共2页
Modern Manufacturing Technology and Equipment
基金
2017年福建省高等学校创新创业教育改革项目(闽教高[2017]27号)
福建省高校重点实验室项目"工业机器人测控与模具快速制造"(闽教科[2017]8号)
关键词
四足机器人
装配
稳健创新
quadruped robot
assembly
steady innovation
