Hexapod robot motion control algorithm

Abstract

The invention provides a hexapod robot motion control algorithm which is mainly used for solving the problem that, in the supporting state advancing process of legs on the two sides of a robot body, the walking tracks of the legs relative to joints are arc-shaped, so that mutual exclusion force is generated, and the joints of the robot body are damaged. The method comprises the five steps of establishing a robot coordinate system, establishing a robot body coordinate system, establishing a single walking leg coordinate system, performing forward and reverse kinematics solution and performing amotion control method. Viewed from each leg and joint, the algorithm enables the foot end track of a robot in the supporting state walking process to be a straight line, as shown in Figure 1, and thetracks of the two side legs of the robot body are parallel to each other, so that the problem of mutual exclusion force is well solved; in addition, according to the algorithm, foot ends make vertical contact with the ground in the lifting and falling process of the legs, so that the robot body is not prone to sideslip, and the stability of the robot body is greatly enhanced.

Description

technical field [0001] The invention belongs to a robot leg motion control algorithm and belongs to the field of robot motion control. Background technique [0002] Hexapod robots have more redundant degrees of freedom in structure, can adapt to more complex terrain, walk in the field with complex road conditions, and complete transportation operations in non-structural environments that crawler or wheeled types cannot complete. Therefore, in many aspects with broadly application foreground. However, in the past, the joint control of the hexapod robot has great disadvantages. The trajectory of each leg swinging around its heel joint during the forward process is an arc, so that the legs on both sides form a mutual repulsion force during the forward process. When the body is heavy, the The joint damage is relatively serious; in addition, if the feet of each leg are not perpendicular to the ground during the falling process, it is easy to cause sideslip and affect the stabili...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is the damage to the joints of the body caused by the mutual repulsion force generated by the arc walking of the hexapod robot when it advances, and the situation that if the foot end is not perpendicular to the ground during the falling process, it is easy to cause sideslip

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