Shared factor fuzzy inference device applied to hexapod robot

A hexapod robot, robot technology, applied in the direction of instrument, adaptive control, general control system, etc., can solve the problems of speed loss, motion out of control, robot instability, etc., to reduce speed loss, reduce work pressure, and improve transparency. Effect

Active Publication Date: 2019-05-21
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

When the robot is on a rough ground, there will be a large difference between the robot's planned landing position and the actual position. Therefore, the hexapod robot may lose speed in the direction of the target movement, and the fluctuation of the body may cause the robot to lose speed. Insufficient stability margin. At this time, if this control framework is adopted, it is difficult to meet the demand

Method used

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  • Shared factor fuzzy inference device applied to hexapod robot
  • Shared factor fuzzy inference device applied to hexapod robot
  • Shared factor fuzzy inference device applied to hexapod robot

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Embodiment Construction

[0019] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples.

[0020] One embodiment of the present invention: a kind of shared factor fuzzy reasoner applied to hexapod robot, its content comprises the following steps:

[0021] Step 1: Carry out dynamic modeling for the master-end robot, and perform kinematic modeling for the slave-end robot; the specific implementation method is as follows:

[0022] The dynamic equation of the master robot is as follows:

[0023]

[0024] Among them, the subscript 1 represents the main-end robot of the velocity layer, 2 represents the main-end robot of the pose layer, τ m is the control law of the host robot, τ h is the force exerted by the operator on the master robot, M m is the mass of the end robot, B m is the damping coefficient of the host robot, q m is the position vector of the client robot;

[0025] Feature 1: M m is a positive definite mat...

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Abstract

The invention belongs to the technical field of foot type robot teleoperation. The invention discloses a shared factor fuzzy inference device applied to a hexapod robot. The problem that instability is prone to occurring when a multi-pod robot executes a special task on a complex terrain is solved. The shared factor fuzzy inference device applied to the hexapod robot designs a two-dimensional teleoperation system capable of realizing cooperative control of shared characteristics on the basis of a speed-pose cooperative teleoperation system. The stability condition of the multi-pod robot is analyzed through a stability margin criterion, and a sharing factor alpha is generated through a fuzzy inference system to distribute control weights for the teleoperation subsystem; control errors and control requirements of the multi-pod robot are combined through a main end controller, and the control errors and the control requirements are fed back to an operator in a tactile guiding force mode.The method can effectively solve the problem that the multi-pod robot is prone to questioning under the rugged terrain, and the working pressure of an operator is reduced while the transparency of thesystem is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of teleoperation of legged robots, and in particular relates to a shared factor fuzzy reasoner and an implementation method thereof for efficient and stable walking of a hexapod robot teleoperated by an operator under rough terrain. Background technique [0002] Because legged walking robots have stronger adaptability and passing ability than wheeled or tracked mobile robots when facing complex terrain, they have been widely used in disaster rescue, sea and air exploration, exploration and other fields. But what needs to be recognized is that although legged robots can replace humans in dangerous working environments, due to the unpredictable complexity of the work site, it is difficult to ensure that the robot can adapt to the complex and changeable by relying solely on the robot's own intelligent control algorithm. Task requirements under working conditions. In order to improve the stability of the robot ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 尤波陈翰南李佳钰
Owner HARBIN UNIV OF SCI & TECH
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