摘要
外骨骼机器人的运动过程控制是机器人运动研究中的一个重要模块。农用型外骨骼机器人在田间作业时,经常需要做起蹲运动,因此很有必要对该过程进行优化控制。将外骨骼机器人作为研究对象,研究其起身时的优化控制方法,首先需要确立外骨骼机器人起身过程的坐标系,建立一个数学模型;使用Matlab软件对所建立的数学模型进行仿真,得到关节角度的变化规律;然后把ZMP和地面反力作为约束,对目标函数进行优化,寻求起身过程中的最小耗能,得到该过程的优化轨迹;再在ADAMS软件中建立一个机器人的几何模型,仿真模拟起身过程,分析得到主动力矩和关节角度的优化曲线;用MATLAB软件进行遗传算法优化,得到最优值,即最小耗能。
Movement of the exoskeleton robot process control is an important module in the study of robot movement,and in the field operation,it often needs to start squat movement.So it is necessary to optimize the process control.The exoskeleton robot as the research object,study its start optimization control method.First need to establish the exoskeleton robot and coordinate system of the process,a mathematical model is established.And using Matlab software to simulate the established mathematical model,and get joint angle change rule.Then the ZMP and ground reverse force as constraint,optimize the objective function,seeking arose in the process of minimum energy dissipation,get the optimal trajectory of the process.Again in the ADAMS software to establish a geometric model of robots,simulation and process analysis to get active torque and Angle of the joint optimization curve.Genetic algorithm optimization using MATLAB software gets the optimal value,namely the minimum energy consumption.
出处
《中国农机化学报》
2016年第8期204-207,共4页
Journal of Chinese Agricultural Mechanization
基金
国家自然科学基金(11462021)
关键词
起蹲
优化
建模
仿真
standing-squatting
optimization
modeling
simulation
