Heavy manned walking robot steering-by-wire system road feeling simulation method

A technology of steer-by-wire and road sense simulation, which is applied in control/regulation systems, vehicle position/route/height control, instruments, etc. It can solve problems such as lack of road sense, achieve rapid response and improve anti-interference ability

Active Publication Date: 2016-04-06
严格科创产业发展集团合肥有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention is to solve the problem of lack of road sense caused by the heavy-duty manned footed robot adopting the steering-by-wire mode, and now provides a road feeling simulation method for the wire-controlled steering system of the heavy-duty manned footed robot

Method used

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  • Heavy manned walking robot steering-by-wire system road feeling simulation method
  • Heavy manned walking robot steering-by-wire system road feeling simulation method
  • Heavy manned walking robot steering-by-wire system road feeling simulation method

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specific Embodiment approach 1

[0021] Specific implementation mode 1: refer to the attached figure 1 Describe this embodiment in detail, the road feeling simulation method of the linear steering system of a heavy-duty manned legged robot described in this embodiment first needs to determine the basic composition of the steering-by-wire system. The steering-by-wire system includes a steering wheel module, a motion control module and Steering execution module, the steering wheel module is composed of steering wheel, steering shaft, torque sensor, angle sensor, road sense motor, reducer and motor current sensor; the motion control unit module is composed of motion planning unit and motion controller; The steering execution module is composed of a single-leg controller, three free hydraulic drive legs, a rotary transformer, a pressure sensor and a displacement sensor.

specific Embodiment approach 2

[0022] Specific embodiment 2: This embodiment is based on the structure of the steering-by-wire system of the heavy-duty manned legged robot described in specific embodiment 1, and further explains the role of each module in the road feeling simulation link. In this embodiment, The output angle of the steering wheel is proportional to the steering radius of the body. The steering wheel used in the present invention has a unilateral forward / reverse rotation range, and the value of the steering radius of the robot determines the mode of the body’s steering. When the steering radius tends to When the turning radius is close to infinity, the robot enters the in-situ steering mode, and when the turning radius approaches infinity, the robot tends to the straight-line walking mode. In order to ensure the accuracy of manipulation and the convenience of calculation, the robot is not required to perform steering movement within the range of one-sided forward / reverse rotation of the steer...

specific Embodiment approach 3

[0023] Specific embodiment 3: This embodiment is based on the structure of the steering-by-wire system of a heavy-duty manned legged robot described in specific embodiment 1, and further explains the role of each module in the road feeling simulation link. In this embodiment, The output rotation angle of the steering wheel is sent to the motion control unit module, and its internal motion planning unit includes three parts: on the one hand, the coordinates of the landing point of the support phase and the foot end of the swing phase are solved through the established kinematic equations during the robot's steering motion. track, and send the foot information to the single-leg controller; on the other hand, through the established robot dynamics model, the corresponding relationship between the analytical value of the foot-ground contact force and the actual torque of each joint is deduced, and then the single-leg The controller solves the actual torque of each joint through the...

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Abstract

The invention discloses a heavy manned walking robot steering-by-wire system road feeling simulation method, which relates to a mode of enhancing the manipulation telepresence and aims at solving the problem of inaccurate manipulation due to missing of the road feeling information during a process to manipulate steering of the walking robot in an electric signal mode. The steering manipulation mode is determined firstly; then, a theoretical moment applied to the gravity center by a foot-ground force during the robot steering process is deduced; then, through a leg hydraulic cylinder movement-mechanical model, the actual torque of each joint is calculated, and an analytical moment applied to the gravity center by the foot-ground force during the robot steering process is deduced; and finally, sliding mode control is adopted, a road feeling motor in the steering-by-wire system simulates a high-fidelity foot-ground contact moment, and the high-fidelity foot-ground contact moment is fed back to a driver. Thus, the contact information when the robot and the road surface mutually act can be reduced in real time, and the stability and the accuracy of robot manipulation by the driver can be improved. The method of the invention is applicable to the technical field of walking robot manipulation.

Description

technical field [0001] The invention belongs to the technical field of manipulating a legged robot, and in particular relates to a method for simulating road feeling during the steering process of a driver manipulating a heavy-duty legged robot. Background technique [0002] Heavy-duty manned footed robots have become one of the research hotspots in the field of robotics due to their large load, high stability, and strong adaptability. The good passability of the terrain requires the integration of human decision-making elements into the control system of legged robots. Therefore, developing a set of manipulating systems with good interaction has become an effective way to make up for the lack of existing intelligent technology of legged robots. . [0003] Due to the complex structure of the heavy-duty manned footed robot and the high degree of motion discreteness, the design of the manipulating system is more difficult. Therefore, in the actual application process, the man...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 尤波李佳钰许家忠王明磊李开心
Owner 严格科创产业发展集团合肥有限公司
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