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Amphibious crab-imitating multi-legged robot walking foot anti-saturation finite time motion control method

A multi-legged robot, limited time technology, applied in the direction of non-electric variable control, attitude control, control/regulation system, etc., can solve the problems of poor tracking control accuracy and slow speed of walking foot trajectory

Active Publication Date: 2021-06-18
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the problems of poor accuracy and slow speed in the tracking control of the walking foot track of the existing crab-like multi-legged robot

Method used

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  • Amphibious crab-imitating multi-legged robot walking foot anti-saturation finite time motion control method
  • Amphibious crab-imitating multi-legged robot walking foot anti-saturation finite time motion control method
  • Amphibious crab-imitating multi-legged robot walking foot anti-saturation finite time motion control method

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specific Embodiment approach 1

[0067] An amphibious imitation crab multi-legged robot walking foot anti-saturation finite time motion control method described in this embodiment includes the following steps:

[0068] S1. Based on the amphibian crab multi-legged robot walking foot dynamics model, the amphibian crab multi-legged robot walking foot dynamics model transformation:

[0069] Amphibian imitation crab multi-legged robot walking foot model such as figure 2 As shown, establish a coordinate system for the walking foot, where the fixed coordinate system of the walking foot is O-X 0 Y 0 Z 0 , the hip joint coordinate system is O-X 1 Y 1 Z 1 , the hip joint coordinate system is O-X 2 Y 2 Z 2 , the tibial joint coordinate system is O-X 3 Y 3 Z 3 , the coordinate system of the end point of the walking foot is O-X 4 Y 4 Z 4 , where the fixed coordinate system of the walking foot is also the coordinate system of the connection between the walking foot and the robot body.

[0070] The dynamic e...

Embodiment

[0217] In order to verify the control performance of the above joint controller, the dynamic control of the walking foot of the robot will be simulated by MATLAB according to the scheme of the specific embodiment one, and the performance of the designed controller (the present invention) will be verified. The parameters of the adaptive finite-time disturbance observer are: c 0 =50,Θ 0 =[60,100,120] T , γ=1, δ=0.1; the parameter settings of the controller are: λ=diag[5,5,5], μ=diag[0.1,0.1,0.1], k 1 =diag[5,5,5],k 2 =diag[0.01,0.01,0.01], p=3, q=5; the parameters of the auxiliary system designed considering the input saturation are: A=diag[5,3,5], B=[0.1,0.2,0.3] T , P=diag[0.01,0.01,0.02],σ 0=100, set the input saturation limit to be ±50Nm; the model parameter uncertainty is 20% of the nominal system dynamics parameter, and define the lumped uncertainty as: d=[1+0.3sin(0.3t)cos(0.2 t),0.5+0.1sin(0.2t)cos(0.1t),0.1+0.1sin(0.2t)]. The angular position of each joint of th...

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Abstract

The invention discloses an amphibious crab-imitating multi-legged robot walking foot anti-saturation finite time motion control method, and belongs to the technical field of robot control. The problems that walking foot trajectory tracking control of an existing crab-imitating multi-foot robot is poor in precision and low in speed are solved. According to the method, firstly, a robot walking foot dynamic model is established for the amphibious crab-imitating multi-legged robot, then a self-adaptive finite time disturbance observer is determined based on the amphibious crab-imitating multi-legged robot walking foot dynamic model, and the influence of input saturation is processed through an auxiliary system; and finally, a fast terminal sliding mode controller based on an adaptive finite time disturbance observer AFTDO under input saturation is used for controlling the walking foot movement of the robot. The method is mainly used for walking foot control of the multi-foot robot.

Description

technical field [0001] The invention relates to a motion control method of a multi-legged robot. It belongs to the field of control technology. Background technique [0002] In today's world, with the rapid development of science and technology, the demand for marine resource development is expanding day by day. Aiming at many tasks in the fields of inspection of marine facilities, marine resource exploration and data collection, offshore reconnaissance, defense and rescue in complex environments such as offshore seabeds and shoals, it is necessary to develop an amphibious crab-like multi-legged robot to complete the above operational task requirements. Such as figure 1 shown. [0003] The design and research of the amphibious crab-like multi-legged robot is a combination of multi-disciplinary and multi-field technologies. The motion control problem in the crawling mode is a key content of the research topic of the amphibious crab-like multi-legged robot, and it is also o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 杜雨桐范金龙万磊孙延超秦洪德陈欣岩李凌宇
Owner HARBIN ENG UNIV