摘要
蛇形仿生机器人是多关节、高冗余度的仿蛇机器人,其转弯运动的性能是评判此类机器人的重要技术指标.针对蛇形仿生机器人的转弯控制这一问题,提出了4点判断基于蛇形曲线的转弯控制方法优劣的准则,分析了常用的3种转弯控制方法:中心值控制法、相位控制法和幅值控制法的优缺点,提出了切线控制法和组合控制法,解决了蛇形仿生机器人转弯过程中和转弯后充分保持蛇形曲线、转弯角度受幅值限制、不连续等问题,使得转弯更准确、转弯时间更短、效果更明显,对基于蛇形曲线的蛇形仿生机器人的转弯运动控制有重要意义.
Snake bionic robot is a multi-joint, high redundancy degree of imitation snake robot. Its performance of turning motion is an important technique for this class of robots. For the turning control of the snake bionic robot, four protocols are commented to judgment serpentine curve turn control methods of pros and cons criterion. Based on these protocols, three commonly used turning control methods are analyzed： center value control method, phase control method and the amplitude control method. Also the tangent control method and the combination control method are put forward to solve the snake bionic robot turning and after turning cannot fully maintain the snake curve, turning angle amplitude limited and discontinuous problems, to make a turn more accurate, turning time shorter, the effect more obvious. It has important significance on the turning motion based on the serpentine curve for the snake bionic robot.
出处
《指挥与控制学报》
2015年第4期485-492,共8页
Journal of Command and Control
