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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
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It cannot directly describe the interaction between the robot and the ground, nor can it be used for robot single-leg testing

Method used

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

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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...

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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

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Application Information

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IPC IPC(8): G05B23/02
Inventor 李贻斌王海燕阮久宏荣学文
Owner SHANDONG UNIV
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