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为实现对正交关节蛇形机器人多种运动形式的简单、统一控制,从研究蛇形机器人控制函数出发,提出了一种简单的并可同时实现正交关节蛇形机器人蜿蜒运动、行波运动、侧向翻滚运动和螺旋攀爬运动等多种运动形式的控制函数。对蛇形机器人实现螺旋攀爬运动的控制参数进行了分析,并用粒子群优化算法(PSO)对控制参数进行了优化拟合,给出了控制参数与螺旋攀爬半径之间的优化拟合函数,为正交关节蛇形机器人在不同螺旋半径下的攀爬运动控制提供了参考。运用Webots移动机器人仿真软件进行仿真,在同一控制函数下实现了蛇形机器人的多种运动形式,验证了所提控制函数和优化拟合函数的有效性。
In order to realize the simple and unified control of many kinds of movement forms of the serpentine robot, the control function of the serpentine robot is studied. A simple and unified method is presented to realize meandering motion of the serpentine robot with orthogonal joint. Sports, lateral tumbling and spiral climbing movements and other forms of control functions. The control parameters of helical robot for spiral climbing are analyzed. The particle swarm optimization (PSO) is used to optimize the control parameters. The optimal fitting function between the control parameters and the helical climbing radius is given. , Which provides a reference for the control of climbing motion of the serpentine robot with different helix radius. Webots mobile robot simulation software is used to simulate the robot. The various forms of motion of the serpentine robot are realized under the same control function. The validity of the proposed control function and the optimization of the fitting function are verified.