基于UMAC的六足机器人控制系统设计

摘要

六足机器人随着任务的复杂程度不断提高,自由度也不断增多,使其控制结构也越来越复杂,给工程实现带来很大的困难.本文以中枢模式发生器(CPG)原理为基础,IPC+UMAC多轴运动控制器为核心,采用分级分布式控制结构设计六足机器人控制系统.控制系统包括6个CPG单元,每个CPG单元的输出信号控制机器人单腿的三个关节.通过CPG单元之间的相位延迟来实现机器人的步态切换,改变单个CPG单元的相位和幅值来控制单腿三个关节的转角轨迹,最终实现六足机器人多自由度的协调运动.%With the increasing complexity of the task, hexapod robot joints are also increasing, makes its control structure more and more complicated, and very difficult to realize. This paper develops a control system of hexapod robot based on central pattern generator ( CPG ), which has the hierarchical and distributed control structure. The industrial computer and UMAC ( Universal Motion and Automation Controller ) are the core of the control system. Three joints of each leg are controlled by output signal of the CPG unit. The system includes 6 CPG unit. Through the phase delay among CPG units to switch the gait of robot, by means of change phase and amplitude of single CPG unit to control joint angle of single leg. Finally it realize the coordination movement of hexapod robot which has multiple degrees of freedom.