A tangent control method for turning motion of snake-like biomimetic robot
A bionic robot and control method technology, which is applied in the field of robot control, can solve problems such as robot shaking, long time, and large range of joint angle changes, and achieve the effects of solving amplitude limitations, relieving motor pressure, and ensuring continuity
Inactive Publication Date: 2017-03-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0004] Compared with traditional industrial robots, the snake-like bionic robot has no fixed base coordinates, and the joint torque is related to the rotation angle during the movement process. Kinematics, dynamics modeling is much more complex than serial robots
[0005] At present, the turning control methods commonly used by most bionic robot snakes include central value control method, phase control method and amplitude control method. Accurate, the joint angle changes greatly, causing the robot to shake; the phase control method has obvious mutations in the joint angle when turning, causing the robot to shake successively in each joint; the amplitude control method has a large turning radius and takes a long time
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Embodiment 1
[0025] A tangent control method for the turning motion of a snake-like bionic robot disclosed in this embodiment includes the following steps:
[0026] Step 1: When the snake-like bionic robot turns, when the turning angle φ is smaller than the amplitude angle α, that is, when φ<α, the turning angle φ is limited by the amplitude, and the tangent control equation of formula (1) is directly used to make The snake-like bionic robot maintains the motion angle φ and the serpentine curve before turning when turning, that is, the serpentine curve remains unchanged during the turning process of the snake-like bionic robot, ensuring that the turning angle is continuous.
[0027]
[0028] Among them, α is the amplitude angle, φ is the turning angle, b is the proportional coefficient, s 1 The moving distance of the snake-like bionic robot, s 2 The movement distance of the snake-like bionic robot when turning.
[0029] Such as figure 1 As shown, comparing the phase control method an...
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The invention discloses a tangent line control method for S-shaped bionic robot turning movement, relates to a control method for S-shaped bionic robot turning movement and belongs to the field of robot control. The method includes the following steps that when phi is smaller than alpha, a tangent line control equation is adopted for control, so that an S-shaped curve generated in the S-shaped bionic robot turning process is kept unchanged, and the continuous turning angle is guaranteed; when phi is larger than alpha, the amplitude angle alpha of an S-shaped bionic robot is adjusted so as to be increased to a proper value, the tangent line control equation is adopted for control, the S-shaped curve generated in the S-shaped bionic robot turning process is kept unchanged, and the continuous turning angle is guaranteed; and after the robot makes a turn, the amplitude angle alpha is adjusted so as to be returned to the amplitude angle alpha obtained before the robot makes the turn, and therefore the S-shaped curve generated in the turning process is kept unchanged and the turning angle phi is continuous. The method has the technical beneficial effects that the S-shaped curve is fully kept unchanged in the S-shaped bionic robot turning process and after the S-shaped bionic robot makes the turn, and the problem that the turning angle is limited to the amplitude and is not continuous can be solved.
Description
technical field [0001] The invention relates to a control method for the turning motion of a snake-like bionic robot, in particular to a tangent control method for the turning motion of a snake-like bionic robot, belonging to the field of robot control. Background technique [0002] The snake-like bionic robot is a snake-like robot with multi-joint, high redundancy, and limbless structure. It has the advantages of stable motion, changeable motion forms, and strong environmental adaptability. fields have broad application prospects. [0003] When the snake-like bionic robot is moving, it will inevitably encounter insurmountable obstacles or a certain angle between the direction of motion and the target, which requires the robot to make direction adjustments according to its own structure and the current environment to avoid obstacles Or adjust the direction to align with the target. [0004] Compared with traditional industrial robots, the snake-like bionic robot has no fix...
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IPC IPC(8): B25J9/06B25J9/18
Inventor 邓宏彬王超彭演宾彭腾赵娜李东方李科伟张国秀陈振满
Owner BEIJING INSTITUTE OF TECHNOLOGYGY