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在研究轨迹规划中,用小驱动力矩函数控制机器人的质心运动,降低机器人关节的驱动电机的功率问题。文中首先对相关理论进行了描述,根据多足步行机器人的运动关系导出机器人的质心运动规律与关节驱动变化在能耗上的联系,并利用泛函理论导出小驱动力矩函数。在机器人ZQROT-I运行直线步态过程中,采用该函数控制机器人质心的运动,利用ADAMS对机器人的运动性能进行了分析,并将结果与机器人轨迹控制中采用其他函数的运行结果进行了对比分析。结果表明,采用小驱动力矩函数控制机器人的质心轨迹运动,在节省机器人运行能耗方面有一定的作用。
In the research of trajectory planning, the small driving torque function is used to control the centroid movement of the robot to reduce the power of the driving motor of the robot joint. The paper first describes the related theories, derives the relationship between the robot’s centroid motion and the joint drive variation in energy consumption according to the motion relationship of the multi-legged walking robot, and derives the small driving torque function by the functional theory. In the process of robot ZQROT-I running straight gait, this function is used to control the movement of the robot’s centroid, the robot’s motion performance is analyzed by ADAMS, and the results are compared with the results of other functions in robot trajectory control . The results show that using a small driving torque function to control the trajectory of the robot’s centroid has a certain effect on saving the energy consumption of the robot.