Fuselage attitude angle correction-based hexapod robot joint angle calibration method

Abstract

The present invention provides a fuselage attitude angle correction-based hexapod robot joint angle calibration method. According to the method, the fuselage attitude angle of a hexapod robot is acquired by a micro inertial sensor. In combination with the system kinematics and the inverse kinematics model of foot type robots, the correction for each joint angle of the support legs of a multi-foot movement robot is completed. The hexapod robot is driven to be supported on the ground by any three feet, while the other three feet of the hexapod robot are lifted and always kept not in contact with the ground. One support leg of the hexapod robot is selected to drive the one joint on the selected support leg to rotate in angle, while the bottom of the support leg is sliding. At the same time, the bottoms of the other two support legs are not sliding relative to the ground. A function relationship between the joint angle and the attitude is established, and a system of linear equations for the zero point of the joint is obtained. As a result, the coordinate of the bottom of the support leg relative to a fuselage coordinate system is obtained. After that, the angle of each joint of the support legs of the robot can be solved out reversely based on the known position of the tail end of the above support leg. Based on the method, the correction for the joint angles of the multi-foot movement robot is completed rapidly and accurately. Therefore, the multi-foot coordination and the movement track precision of the multi-foot movement robot are ensured.

Description

technical field [0001] The invention relates to a method for calibrating the motion of a legged mobile robot, belonging to the technical field of robots, in particular to a method for calibrating joint angles of a hexapod robot based on body attitude angle correction. Background technique [0002] Compared with wheeled mobile robots, footed mobile robots have a stronger ability to overcome obstacles due to their flexible and changeable motion patterns, and have better robustness of motion functions in unstructured environments. As a typical representative of legged mobile robots, hexapod mobile robots are gradually becoming a research hotspot in the field of legged mobile robots. [0003] Since most hexapod mobile robots are hybrid mechanisms and have many redundant motion joints, it is difficult to guarantee the accuracy and efficiency of their motion control, and kinematics issues have become one of the main hot spots in the research field of hexapod mobile robot control t...

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Problems solved by technology

[0008] However, the above-mentioned patents have the following disadvantages: the calibration process needs to use standard calibration blocks, or use a special calibration platform, and the unavoidable mechanical manufacturing errors will cause error accumulation in the calibration process, and the accuracy of mechanical zero point calibration cannot be guaranteed.

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