蛇形机器人桥梁缆索攀爬步态控制研究

摘要

使用基于迭代链拟合与关键帧提取的蛇形机器人缆索攀爬步态生成方法,对一种正交关节蛇形机器人桥梁缆索攀爬步态控制进行了研究。该方法可建立蛇体骨干曲线定向位移与底层驱动器输入之间的联系,可将传统的骨干曲线法和控制函数法两种步态生成方法的优点有效地结合。使用该方法生成步态既可直观地得到骨干曲线的形状及运动趋势,又可得到以关节号和时间为变量的控制函数。该方法可有效提高蛇形机器人桥梁缆索攀爬的安全性、步态灵活性,同时,也便于控制底层驱动器。最后,通过实验验证了所提出方法的有效性。%This paper used an orthogonal joint snake--like robot for cable climbing. A method called by iterative chain fitting and keyframe wave extraction algorithm was introduced for the gait design of snake--like robot with orthogonal joint. This method can build a relationship between the backbone curve and the input of the joint actuator. The advantages of backbone method and control function method could be combined by this method. By using this method the backbone and its motion can be known and the control function of joint actuator can be obtained at the same time. The pro- posed method can improve the safety of the climb, the flexibility of the gait effectively and it is easy to control the underlying drivers. Experimental results show that the method is feasible.