摘要
在双足机器人行走优化控制问题的研究中,为了检验双足机器人的行走控制算法的可操作性,设计了三维仿真平台来验证算法。根据双足机器人下肢的一种带内环的家谱树数据结构,并通过机器人连杆机构的运动学原理,建立了一种由机器人运动学导出的矩阵变换方法进行设计。利用Matlab软件编程,成功实现了改进算法的三维仿真图像,并在图形化算法仿真平台上仿真和分析了双足机器人的行走动作。仿真结果表明,能够较真实地仿真出双足机器人的运动动作,为实物机器人的研究提供了可靠的数据依据。
To test whether walking control algorithm of biped robot has operability, a 3D-simulation platform was designed to verify the algorithm. According to a genealogy tree-like data structure with the inner ring of the lower limbs, and through the robot kinematics principle of connecting rod mechanism, the robot 3D-simulation algorithm was derived by matrix transform method. Based on Matlab software programming, the 3D-simulation images of the al- gorithm were implemented to analyse the walking movement. Simulation analysis shows that the algorithm can realize the movements of biped robot, which offers the reliable data basis for the study of Physical robots.
出处
《计算机仿真》
CSCD
北大核心
2014年第3期346-350,共5页
Computer Simulation
基金
贵州财经大学2011年引进人才科研项目(20110901)
贵州省科学技术基金资助项目(黔科合J字[2012]2097号)
关键词
双足机器人
运动学
矩阵变换算法
三维仿真
Biped robot
Kinematics
Matrix transformation algorithm
3 D simulation
