Hydraulic driving articulated-type legged robot inter-joint decoupling control method

A technology of robot joint and decoupling control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as complex system control

Inactive Publication Date: 2017-09-12
HARBIN UNIV OF SCI & TECH
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  • Description
  • Claims
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Problems solved by technology

This coupling between the joints, which is produced by multiple variables of the m

Method used

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  • Hydraulic driving articulated-type legged robot inter-joint decoupling control method
  • Hydraulic driving articulated-type legged robot inter-joint decoupling control method
  • Hydraulic driving articulated-type legged robot inter-joint decoupling control method

Examples

Experimental program
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Effect test

Embodiment

[0058] Example: Decoupling control problem between the joints of the upper and lower legs of a hydraulically driven articulated foot robot

[0059] Step A. Establish a cross-link coupling model between the thigh and calf joints:

[0060]In this application, the joint coupling of machine and fluid is studied as the coupling behavior of hydraulically driven articulated footed robots. Based on the analysis of the leg mechanical structure and hydraulic servo drive system of hydraulically driven articulated footed robots, according to the mechanism Control principle, establish the dynamic model of the robot leg mechanism and the model of the hydraulic servo drive system of the leg, and finally establish the coupling model of the two joints of the robot's thigh and calf to provide a basis for the decoupling control of the robot. The principle of the coupling relationship The block diagram is attached figure 1 shown.

[0061] attached figure 1 in, u 2 Input voltage for thigh join...

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Abstract

The invention discloses a hydraulic driving articulated-type legged robot inter-joint decoupling control method. Mechanical hydraulic combination coupling is used as a hydraulic driving articulated-type legged robot coupling behavior for researching, a coupling model between the joints of the leg of the robot is established. The coupling degrees of the various branches of the joints of the leg are calculated, and the characteristics of the coupling between the joints of the hydraulic driving articulated-type legged robot are researched. According to the coupling relation between the joints of the leg of the hydraulic driving articulated-type legged robot, the mechanism dynamics coupling force of the various motion branched chains of the robot is decomposed into the hydraulic servo driving systems of the various joints by Jacobian matrix transformation decomposition, and is used as perturbed force of a hydraulic system, and then decoupling control of electro-hydraulic servo system is carried out to eliminate the cross-linking coupling influences of the whole robot systems. The mechanical hydraulic combination coupling is used as a hydraulic driving articulated-type legged robot coupling behavior for the researching, and a decoupling control scheme is designed, and therefore the control precision of the robot is improved, the system has good control performance, and the improvement of the dynamic performance and the automation level of the hydraulic driving articulated-type legged robot is facilitated.

Description

technical field [0001] The invention relates to the technical field of hydraulically driven articulated robot control, in particular to a method for decoupling control between joints of a hydraulically driven articulated robot. Background technique [0002] Each leg of the hydraulically driven articulated foot robot is a multi-joint multi-degree-of-freedom series mechanism. The leg system has nonlinear and strong coupling, and the coupling not only exists in the multi-degree-of-freedom motion coupling between the motion branches of the leg mechanism , and also exist in the hydraulic drive mechanism of each joint. Therefore, the coupling between the joints of the hydraulic quadruped robot is the result of the joint action of the machine and the liquid. The coupling between the joints, which is produced by multiple variables of the mechanical structure and hydraulic actuation, makes the system control very complicated. During the actual motion of the robot, in order to contro...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 高炳微王思凯任东一
Owner HARBIN UNIV OF SCI & TECH
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