Kalman filter with two genealogical line balancing robot control system and control method

摘要

The present invention is a Kalman filter as a number of 2 genealogical line robot posture control system including the joint, and measuring the ZMP value based on the received signal from the pressure sensor mounted to the robot predict ZMP value of the following instruction cycle and , by comparing the ZMP value and the predicted ZMP value measured by the Kalman filter the by calculating a control value of the respective joints based on the modified trajectory generated by the trajectory comparison module and the sign comparison module for generating a corrected trajectory 2 provides a genealogical line balance control system of the robot characterized in that the robot comprises a control module for controlling the movement of each joint. ; According to the present invention, 3-D using a linear inverse Kalman filter to compensate for the state of the pendulum model adaptively by compensating for the robot joint angular velocity, and solve the problem of inaccurate modeling of the joint 2 genealogical line robot, there is an effect increasing the ability to respond to dynamic disturbances that may occur in accordance with the movement of the robot. ; 2 genealogical line robots, Kalman filter, ZMP, balance control, joint control, three-dimensional linear inverted pendulum model