摘要
为解决六足机器人全方位行进中姿态的实时独立规划问题,分析了机器人行进规划与姿态规划之间的耦合原因,提出了一种基于机身等效连杆思想的模型,并以该模型为核心实现了全向三角步态和姿态控制。样机实验结果表明,基于本模型的控制算法可在STM32F407微控制器中实时解算,闭环姿态控制的调节时间比传统双PI控制方法缩短了约80%。
In order to solve the problem of real-time independent attitude planning of hexapod robot in omnidirectional marching,the coupling reason between the robot′s motion planning and attitude planning was analyzed.A model based on the idea of body equivalent linkage was proposed,and the omnidirectional triangular gait and attitude control were realized based on the model.The experimental results of the prototype show that the control algorithm based on this model can be solved in real time in STM32F407microcontroller,and the adjustment time of closed-loop attitude control is about 80%shorter than that of the traditional dual-PI control method.
作者
李昂
杨泓渊
雷小萌
宋凯文
千承辉
LI Ang;YANG Hong-yuan;LEI Xiao-meng;SONG Kai-wen;QIAN Cheng-hui(College of Instrumentation&Electrical Engineering,Jilin University,Changchun 130021,China;National Engineering Research Center of Geophysics Exploration Instruments,Jilin University,Changchun 130021,China;Key Laboratory of Geo-exploration Instruments,Ministry of Education,Jilin University,Changchun 130021,China)
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2022年第7期1696-1708,共13页
Journal of Jilin University:Engineering and Technology Edition
基金
国家重点研发计划项目(2018YFC0603204)。
关键词
自动控制技术
六足机器人
机身等效连杆
闭环姿态控制
多足协调控制
全方位移动
实时解算
automatic control technology
hexapod robot
fuselage equivalent link
closed-loop attitude control
multi-foot coordinated control
omnidirectional movement
real-time solution
