摘要
针对液压四足机器人在关节位置控制模式下引起的机器人内力问题,建立液压四足机器人单腿运动学方程和单腿动力学方程,分析机器人内力产生的机理及其对机器人性能的影响,提出基于动力学模型的机器人内力自适应抑制策略。自适应控制器利用关节理论力与实际力间的差值对位置指令进行补偿,以实现消除内力的目的。通过液压四足机器人HD平台进行控制策略验证,实验结果表明,机器人在位置控制模式下,机器人内力抑制策略可有效降低系统内力,使得机器人实际驱动力与理论驱动力接近,验证了控制策略的有效性。
Under the condition of joint position control, the inner force of hydraulic quadruped robot will be generated. To deal this problem, the kinematic equation and the dynamic equation of the single leg are formulated. The generation mechanism of inner force and its influence on robot performance are analyzed. In this study, the adaptive inhibit strategy based on dynamic equation is proposed. To eliminate the inner force, the compensation signal of joint position is introduced, which is computed by the adaptive controller based on the deviation between the theoretical joint force and actual joint force. The control strategy is verified by the hydraulic quadruped robot test platform HD. Experimental results show that the control strategy can effectively reduce the inner force under the condition of joint position control, and the deviation between the theoretical joint force and actual joint force is close to zero. Hence, the efficiency of the proposed control strategy is evaluated.
作者
邵璇
张永德
孙桂涛
金朝辉
Shao Xuan;Zhang Yongde;Sun Guitao;Jin Zhaohui(College of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2018年第9期73-81,共9页
Chinese Journal of Scientific Instrument
关键词
液压四足机器人
电液位置伺服
内力抑制
自适应控制
hydraulic quadruped robot
electro-hydraulic position servo
inner force inhibition
adaptive control
