摘要
为了提高液压足式机器人的正交载体恒稳控制能力,提出一种基于刚体速度反馈和虚拟力学分解的液压足式机器人的正交载体恒稳控制方法。构建液压足式机器人的正交载体力矩分布模型和末端位形参数模型,建立液压足式机器人正交载体力矩控制的约束参量,采用自适应鲁棒控制方法进行液压足式机器人的刚体动力学自适应控制,结合2阶多输入多输出系统建立液压足式机器人的正交载体的刚体速度反馈模型,采用虚拟力学分解方法分析机器人的各连杆合成力矩和速度,实现对机器人的运动学、动力学、虚拟稳定性分析,提高被控体的稳定性。仿真结果表明,采用该方法进行液压足式机器人的正交载体控制的恒稳性较好。
In order to improve the control ability of the orthogonal carrier of the hydraulic foot robot.An orthogonal carrier constant stability control method was presented for hydraulic foot robot based on rigid body velocity feedback and virtual mechanical decomposition.The orthogonal carrier torque distribution model and the terminal configuration parameter model of hydraulic foot robot were constructed,and the constraint parameters of the orthogonal carrier torque control of hydraulic foot robot were established.Adaptive robust control method was used to control rigid-body dynamics of hydraulic foot robot.Combined with two-order multi-input multi-output system,a rigid body velocity feedback model of hydraulic foot robot with orthogonal carrier was established.The method of virtual mechanics decomposition was used to analyze the synthetic torque and velocity of each linkage of the robot.The kinematics,dynamics and virtual stability of the robot were analyzed,and the stability of the controlled body was improved.The simulation results show that the proposed method is more stable for the orthogonal carrier control of the hydraulic foot robot.
作者
田小玲
TIAN Xiaoling(Huali College Guangdong University of Technology,Guangzhou 511325,China)
出处
《机械与电子》
2019年第12期73-76,80,共5页
Machinery & Electronics
关键词
液压足式机器人
正交载体
恒稳控制
力矩
hydraulic foot robot
orthogonal carrier
constant stability control
torque
