摘要
为增强足式机器人在非结构化环境中的运动自适应,基于蜘蛛在非结构化环境中的运动特点,设计一种蜘蛛型足式机器人。采用D-H参数建立六足机器人运动学模型,对足式机器人的运动轨迹规划进行数值分析;结合空间运动机器人的系数关联矩阵,建立蜘蛛型足式机器人的动力学模型;采用多输入多输出的模糊控制网络对其进行控制,对其髋关节、膝关节的位置进行轨迹跟踪,同时补偿摩擦等不确定因素的误差。仿真结果表明:基于多输入多输出的模糊控制网络可实现六足机器人位置跟踪的有效控制,为智能机器人的设计提供参考依据。
Based on the movement characteristics of the spider in unstructured environment,the bionic structure of the spider is designed in order to enhance the motion adaptation of legged robot in the unstructured environment.D-H parameters are applied to establish the kinematics modeling of the hexapod robot,and its trajectory is planned by numerical simulation.The coefficient correlation matrix of the space robot is used to build the dynamic model of the hexapod robot.The fuzzy control network with multi-input and multi-output is adopted to control the robot,whose trajectory of hip and knee joint positions are tracked,and the error compensation of uncertain factors such as friction is carried out.The simulation results show that the fuzzy control network based on multi-input and multi-output can realize the position tracking of the hexapod robot and provide a reference for the design of hexapod intelligent robot.
作者
周娟利
顾仁碗
韩斌慧
ZHOU Juanli;GU Renwan;HAN Binhui(School of Aeronautical Materials Engineering,Xi'an Aeronautical Polytechnic Institute,Xi'an 710089,China;Chinese Flight Test Establishment,Xi'an 710089,China;School of Mechanical Enginering,Taiyuan University of Science and Technolog,Taiyuan 030024,China)
出处
《机械制造与自动化》
2025年第4期243-247,278,共6页
Machine Building & Automation
基金
西安航空职业技术学院高层次人才科研启动金项目(2025XHQDJ04)。
