转向盘式六足机器人设计及全方位运动控制

摘要

The omnidirectional walking robot with a steering-wheel synthesizes the mechanism features of legged robot and vehicle's steering wheel.To investigate the kinematic characteristics and motion control systematically,the design idea,mechanism features and kinematics principle of the robot are introduced.Then an equivalent manipulator model is built,the Jacobian of the manipulator is given and dynamics both in joint space and Cartesian space are developed,the resulting nonlinear closed-loop control system can be obtained based on the formulated dynamics equations.The co-simulation PID control of omnidirectional motion is implemented based on ADAMS and Matlab/Simulink,the experiments on the prototype is performed.The simulation and experiments validate that the robot with a steering wheel can be manipulated flexibly and accurately in omnidirectional motion,and the control method is simple and reliable.%基于转向盘的全方位步行机器人综合了腿式机器人与车辆方向盘的结构特征,为了对其运动性能及运动控制进行系统研究,介绍了该机器人的设计思想、机构特色及运动原理.建立了该机器人的等效操作臂模型,给出操作臂的雅克比矩阵,推导出操作臂在关节空间和笛卡尔空间下的动力学方程,以此给出了转向系统的非线性闭环控制模型.基于Adams与Matlab/Simulink对机器人全方位运动进行了PID联合控制仿真,并对样机模型进行了实验研究.结果表明：转向盘式步行机器人在全方位运动控制方面灵活性好,方向精度高,控制简单可靠.