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为准确跟随具有姿态信息的给定轨迹,充分发挥六足机器人运动潜能,从机器人单足运动学分析入手,基于足端轨迹的参数化处理,针对不同地形设计了抛物线和直线-抛物线两类参数化足端轨迹,以便通过参数调整快速规划满足不同需求的足端轨迹,实现摆动相足端在落足点间的高效转移.基于运动相对性将考虑姿态的机体运动规划等效转化为各支撑足独立的足端轨迹规划以简化时变并联机构的逆解求取问题,实现机体位姿的动态调整.在此基础上,解除机体与摆动相足端的运动耦合,提出了一种新的多足协调控制方法,并结合仿真实验对该方法的可行性进行了验证.仿真实验结果表明,本方法可高效协调各足跟随具有姿态信息的给定轨迹.
In order to accurately follow the given trajectory with attitude information and give full play to the potential of the six-footed robot, based on the single-foot kinematics analysis of the robot, based on the parametric processing of the foot-end trajectory, two types of parabola and linear-parabola parameters So as to quickly plan the trajectory of the foot to meet the different needs through the parameter adjustment so as to realize the efficient transfer of the foot end of the swinging phase between the falling points and the equivalence of the body movement planning considering the posture based on the movement relativity into each support Foot independent trajectory planning to simplify the time-varying parallel mechanism to solve the problem of inverse solution to achieve the dynamic posture and posture adjustment on this basis, to lift the body and swing the foot end of the kinematic coupling proposed a new and more Foot coordination control method, and the feasibility of the method is verified by simulation experiments.The simulation results show that this method can efficiently coordinate each foot to follow a given trajectory with attitude information.