Dynamic adaptive stability control system for mobile robot

Abstract

The present invention relates to the application field of zero-moment point (ZMP) dynamic stability control in mobile robots, and in particular discloses a dynamic adaptive stability control system for mobile robots, including a mobile platform, which can be connected to the torso of the robot The connecting device can be stretched out along the edge of the mobile platform, thereby enhancing the stability of the mobile platform to support the stretching device and the control unit connecting the mobile platform and the stretching device; the control unit includes real-time calculation of the mobile platform. Stability ZMP calculation module, vehicle body motion and navigation control module, and a control box connected to the torso of the robot; the control box is connected to the ZMP calculation module, vehicle body motion and navigation control module, mobile platform and stretching device. The invention can calculate the zero-moment point of the robot in real time, judge the dynamic stability of the mobile platform, automatically adjust the torso of the robot or the mobile extension device, and ensure the dynamic stability of the robot.

Description

technical field [0001] The invention relates to the application field of zero moment point (ZMP) dynamic stability control in mobile robots, in particular to a dynamic adaptive stability control system of a mobile robot. Background technique [0002] The zero-moment point ZMP originally started from the attitude stabilization control of the kinematics of the legs of a humanoid robot. The zero-moment point is used to determine the important index of the dynamic stability control of the humanoid robot. If the ZMP falls within the range supported by the soles of the feet, the robot can walk stably. There is also a moment when the foot has a reaction force when it hits the ground. If there is a point where the net moment sum of reaction force and inertial force is zero, it is called zero moment point. The ZMP control mechanism comprehensively applies the ZMP principle to the control of multiple robot dynamic modules such as motion planning, dynamic stability control, and joint...

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Problems solved by technology

[0003] However, at present, there is no control device that can adjust the walking stability of the robot according to the zero moment point ZMP, so that it can only maintain the stability of the walking robot's walking route, and the robot cannot perform any other operations; that is, when the robot is carrying heavy objects, or the center of gravity is shifted It will still fall over, and the existing method of temporarily adding counterweight to the robot to maintain the stability of the robot requires time and manpower, and at the same time increases the burden on the robot and reduces the work efficiency of the robot.

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