摘要
六足机器人在腿部运动时,由于关节连续运动会导致舵机的角度、角速度等发生突变,造成关节的挤压,影响腿部各关节运动平滑稳定。针对该问题,提出了一种多目标最优轨迹规划思想。进行相关的物理与路径约束,设置初始的个体最优系数;通过笛卡儿空间制定路径点,雅可比矩阵对关节角度进行反算,采用次曲线插值对腿部路径关键点进行插值,使运动过程中腿部关节角度、角速度和角加速度曲线平滑稳定。为加强粒子搜索能力的增强,对PSO算法引入外推思想,采用算法多目标进行最优轨迹规划,将PSO算法和粒子外推思想相结合;为使粒子收敛速度更加迅速,对搜索的个体与群体极值加入扰动,增强六足机器人运动的快速和平稳性。用Matlab进行仿真,在六足机器人腿部的足端轨迹规划引用算法可以优化机器人运动轨迹,减缓机器人运动时对关节造成的磨损,使机器人运动更加平稳。
When the hexapod robot moves on the legs, the angle and angular velocity of the servo will be abruptly changed by the continuous movement of the joints, resulting in the squeeze of the joints and affecting the smooth and stable movement of the joints of the legs. In order to solve this problem, a multi-objective optimal trajectory planning idea is proposed. Firstly, the relevant physical and path constraints are carried out to set the initial individual optimal coefficient. Then, the path points are formulated through the Cartesian space, and the inverse calculation is carried out for the joint angle by the Jacobian matrix. The leg path key points are interpolated by the quintic NURBS curve interpolation, making the leg joint angle, angular velocity and angular acceleration curve smooth and stable during the movement. At the same time, in order to strengthen the enhancement of the particle search ability, the PSO algorithm is introduced with extrapolation ideas, and the ADPSO algorithm is used for the multi-objective optimal trajectory planning, combining the particle swarm optimization algorithm and the particle extrapolation ideas together. For a more rapid particle convergence speed, a disturbance is added to the extreme values of the individuals and the groups searched to enhance the speed and smoothness of the hexapod robot's motion. Finally, the simulation is conducted by Matltb. The ADPSO algorithm used for the foot trajectory planning in the legs of the hexapod robot can optimize the robot motion trajectory, mitigating the wear and tear of the joints during the robot movement and making the robot movement more stable.
作者
齐晓轩
王朝玉
QI Xiaoxuan;WANG Zhaoyu(College of Information Engineering,Shenyang University,Shenyang 110041,China)
出处
《计算机与网络》
2023年第18期58-62,共5页
Computer & Network
