Force/position switching control method of joints of single leg of hydraulic four-leg robot

Abstract

The invention discloses a force / position switching control method of joints of a single leg of hydraulic four-leg robot. The control method comprises fuzzy control and multi-model control. The method comprises steps of carrying out segment control on the movement of the robot; carrying out joint force control when a foot end of the robot touches the ground so as to reduce impact and disturbance generated by touch between the foot end and the ground; and carrying out joint position control when the foot end of the robot gets away from the ground so as to achieve precise position of the robot. However, transition from no touch to touch or from touch to no touch between the robot and the ground is finished via force / position switching control, and harmful effects such as jumping of system parameters and shaking of the system when a robot system carries out the force / position switching will be produced. According to the invention, switching of control between force and position is finished via the fuzzy multi-model switching algorithm, so stable transition is ensured; and shaking generated during the force and position switching process can be effectively reduced and control precision is quite high.

Description

technical field [0001] The invention relates to the technical field of quadruped robot control, in particular to a single leg joint force / position switching control method of a hydraulic quadruped robot. Background technique [0002] The control of the interaction between the foot end of the hydraulically driven quadruped robot and the ground is one of the core contents of the control of the hydraulic quadruped robot. During the walking process of the robot, the foot end drops from the suspension to the ground, and the foot end contacts the ground. Interaction force, if the contact force is too large, it may cause damage to the robot's body structure or electrical components. Generally, the shorter the contact and collision time between the foot and the ground, the greater the collision speed and the greater the instantaneous impact force. Large, if the robot is not switched from the position control state to the force control state in time, the robot will be unstable due to...

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Problems solved by technology

[0006] Both of the above two inventions are researches on the force control and position control of the robot, but the two inventions are both robot force and position hybrid control schemes. For the switching between robot force and position, especially when the robot is performing force and position The stability when switching, after checking the relevant information, there is no corresponding patent to study it, therefore, the present invention has a certain originality

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