Robot single-leg assembly control development performance test platform and method

A technology for controlling development and testing platforms, applied in electrical testing/monitoring, etc., can solve problems such as not being able to directly describe robots, and not being able to test with a single leg of a robot

Inactive Publication Date: 2012-12-26
SHANDONG UNIV
View PDF4 Cites 38 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It cannot directly describe the interaction between the robot

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot single-leg assembly control development performance test platform and method
  • Robot single-leg assembly control development performance test platform and method
  • Robot single-leg assembly control development performance test platform and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] A robot single-leg assembly control development performance test platform includes a door-type three-coordinate manipulator assembly 1, a robot leg connection bracket 2, a Stewart platform 3 (internal integrated servo drive, displacement sensor), a six-dimensional force Sensor 4, a robot single-leg assembly 5, and a five-dimensional force measuring platform 6.

[0037] The portal-type three-coordinate manipulator assembly 1 includes a moving support frame assembly 7 in the X-axis direction, a moving support frame assembly 12 in the Y-axis direction, a moving support frame assembly 11 in the Z-axis direction, and a first servo motor 8 (self-contained connecting flange, internally integrated encoder), the second servo motor 9 (self-contained connecting flange, internally integrated encoder), third servo motor 10 (self-contained connecting flange, i...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a robot single-leg assembly control development performance test platform and method. The platform comprises a gantry three-coordinate mechanical arm assembly, a robot leg connection bracket, a Stewart platform, a six-dimensional force sensor, a robot single-leg assembly and a five-dimensional force measurement platform, wherein a servo controller and a displacement sensor are integrated in the Stewart platform; the Stewart platform is invertedly arranged on a base of the robot leg bracket; the five-dimensional force measurement platform is arranged at the center of the ground below the robot single-leg assembly; and the robot leg connection bracket is fixed on a Z-axis-direction mobile supporting frame assembly of the gantry three-coordinate mechanical arm assembly. The test platform is suitable for single-leg movement and quick gait control during bionic gait generation of a four-foot or multi-foot hydraulic driving robot as well as development and research on multiple control strategies for robot load distribution, control force distribution, single-leg force feedback control and 'discrete gait and continuous force control' attitude stabilization control.

Description

technical field [0001] The invention relates to a testing device for a key unit of a robot, in particular to a performance testing platform and method for a single-leg assembly control development of a robot. Background technique [0002] The legged robot is a series-parallel-multi-branch nonlinear system, and its parameters are strongly time-varying. When walking dynamically, the robot is statically unstable, and the acquired terrain information is uncertain. It is very easy to lose stability when the dynamic gait moves rapidly, the terrain changes and is subjected to external impact. How to realize the attitude stability of the robot in the above situation is the success or failure point of the development of the quadruped bionic robot. Aiming at the instantaneity of robot-ground interaction and the uncertainty characteristics of computer vision information used for interaction research, combined with the adaptability requirements of robots to complex environments, this ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B23/02
Inventor 李贻斌王海燕阮久宏荣学文
Owner SHANDONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap