Coupling optimization control method for leg-wheel robot

A technology for optimizing control and robotics, which is applied in the field of automation to achieve the effects of improving control efficiency, improving motion characteristics, and improving motion capabilities

Inactive Publication Date: 2011-03-02
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Claims
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AI Technical Summary

Problems solved by technology

However, there is no coupling optimization control method at present, which can keep the robot body in a horizontal and stable posture as much as possible during the movement process, and make the robot minimize sliding during the movement process, improve the movement ability, and effectively complete the work. Task

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  • Coupling optimization control method for leg-wheel robot
  • Coupling optimization control method for leg-wheel robot
  • Coupling optimization control method for leg-wheel robot

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Embodiment Construction

[0025] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0026] As shown in Figure 1, it is a schematic diagram of the structure of the wheel-legged robot involved in the present invention.

[0027] In the field of robotics, a robot system that has legs and wheels and can be driven independently is generally called a wheel-legged robot. Due to different application purposes, wheel-legged robots can have different forms. The wheel-legged robot shown in Figure 1(a) has a leg with a joint swing degree of freedom and a wheel drive at the end; The wheel-legged robot shown in 1(b) has a leg with two joints of swing DOF and a wheel drive at the end. Due to different research purposes, similar mechanisms have been adopted internationally from small experimental wheel-legged robots to lunar landing robots and Mars exploration robots. Although the specific structure is different, these robots have some common characteri...

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Abstract

The invention discloses a coupling optimization control method for a leg-wheel robot, belonging to the field of automation. The stability function of the leg-wheel robot is defined as shown in the specification, wherein theta i is the stability angel of a topple axis, and when phi s is less than 0, the robot topples over; and the tractive force function of the leg-wheel robot is expressed by the sliding ratio Si and is shown in the specification, thus in order to improve the tractive force, the maximum value in all the Si is minimized. In the method, the stability and the tractive force are integrated, the sum of the weighted root mean square of the stability and the tractive force is utilized as a coupling optimization standard function, and the optimization standard function is controlled to be minimized, thus ensuring the maximization of theta i and the minimization of Si, namely the maximization of the stability of the robot and the minimization of the sliding movement of the robot. The invention has the advantages that the stability of the robot is considered, the drive tractive characteristic of the robot during movement is considered at the same time, and the movement characteristics of the leg-wheel robot are effectively improved.

Description

technical field [0001] The invention relates to the field of automation, in particular to a coupling optimization control method for a wheel-leg robot. Background technique [0002] Wheel-legged robots have high mobility, certain obstacle-surmounting ability and environmental adaptability, and because their attitude controllability can meet the operation requirements of a stable vision system and accurate operation of the manipulator arm, it has been widely used. Especially in the face of complex, unknown, and changeable unstructured environments, it has good mobility, environmental adaptability, and movement flexibility. Therefore, it is widely used in military reconnaissance, detection, attack operations, planetary surface exploration, disaster relief, fire fighting, etc., and has become an important type of robot. [0003] For a robot, its movement ability is the most basic and most important prerequisite. With the goal of the robot having high motion ability and mobili...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02B25J5/00
Inventor 段星光赵洪华黄强王兴涛于华涛
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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