Hexapod robot central pattern inverse control method

A technology of a hexapod robot and a control method, which is applied in the field of reverse control of a central mode of a hexapod robot, can solve problems such as difficulty in satisfying the flexible motion of a bionic robot, and achieve the effect of reducing the complexity.

Active Publication Date: 2018-10-30
CHANGAN UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] In view of the deficiencies in the existing technology, the purpose of the present invention is to provide a hexapod robot central mode revers

Method used

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  • Hexapod robot central pattern inverse control method
  • Hexapod robot central pattern inverse control method
  • Hexapod robot central pattern inverse control method

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Embodiment 1

[0037] Such as figure 1 As shown, this embodiment provides a hexapod robot central mode reverse control method, which is characterized in that it includes the following steps:

[0038] Step 1, establish the D-H model of the robot leg; in this embodiment, establishing the parameterized D-H model of the robot is the premise and basis for the study of robot kinematics.

[0039] Step 2, outputting control signals through the central analog generator of the robot;

[0040] Step 3, plan the foot trajectory of the robot by outputting control signals;

[0041] Step 4: Carry out inverse kinematics analysis on the trajectory planning of the foot end, and obtain the joint rotation angle of each joint of the robot leg through formula (1);

[0042] include:

[0043]

[0044]

[0045]

[0046] In formula (1), θ 1 is the joint rotation angle of the root joint of the robot, is the joint rotation angle of the root joint of the i-th leg of the robot; θ 2 is the joint rotation an...

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Abstract

The invention provides a hexapod robot central pattern inverse control method. The method includes the following steps of 1, creating a D-H model of legs of a robot; 2, conducting foot end path planning on the robot on the basis of the D-H model; 3, conducting inverse kinematics analysis on foot end path planning to obtain a joint corner of each joint of the legs of the robot; 4, inputting the joint corner of each joint of the legs of the robot into a central pattern generator, wherein the central pattern generator outputs a control signal of each joint of the robot; 5, conducting signal coupling on the control signals of all the joints. By means of the method, the complexity of model control is effectively reduced, the gait of the robot is controlled conveniently, and the robot can move along a planned path.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a central mode reverse control method of a hexapod robot. Background technique [0002] With the urgent needs of human beings for space exploration and deep sea resource development, as well as the extensive demand for intelligent machinery for on-site search and rescue in disaster-stricken areas, operations in extreme radiation environments, and military investigations, footed bionic robots have developed rapidly. Because the multi-legged walking robot needs to move in the natural environment, its pose needs to be adjusted at all times to adapt to changes in the terrain, and the pose of the walking robot may vary greatly at different times. At this time, the pose change is drastic, which is The robot needs to be accurately adjusted from the current pose to the target pose in a short time. This requires the legged walking robot to respond quickly in position an...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 朱雅光秦瑞吴永胜郭童刘琼
Owner CHANGAN UNIV
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