Unlock instant, AI-driven research and patent intelligence for your innovation.

Finite-time motion control method for amphibian crab-like multi-legged robot with anti-saturation walking legs

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

Active Publication Date: 2021-09-28
HARBIN ENG UNIV
View PDF7 Cites 0 Cited by
  • 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Finite-time motion control method for amphibian crab-like multi-legged robot with anti-saturation walking legs
  • Finite-time motion control method for amphibian crab-like multi-legged robot with anti-saturation walking legs
  • Finite-time motion control method for amphibian crab-like multi-legged robot with anti-saturation walking legs

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0066] An amphibious imitation crab multi-legged robot walking foot anti-saturation finite time motion control method described in this embodiment includes the following steps:

[0067] S1. Based on the amphibian crab multi-legged robot walking foot dynamics model, the amphibian crab multi-legged robot walking foot dynamics model transformation:

[0068] 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.

[0069] The dynamic e...

Embodiment

[0216] In order to verify the control performance of the above joint controller, according to the scheme of the specific embodiment one, the dynamic control of the walking foot of the robot will be simulated by MATLAB, 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 t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a walking foot anti-saturation finite time motion control method of an amphibious crab multi-legged robot, which belongs to the technical field of robot control. In order to solve the problems of poor accuracy and slow speed in the tracking control of the walking foot trajectory of the existing crab-like multi-legged robot. The present invention first establishes the dynamics model of the robot's walking foot for the amphibious crab-like multi-legged robot, then determines the adaptive finite-time disturbance observer based on the amphibian crab-like multi-legged robot's walking foot dynamics model, uses the auxiliary system to deal with the influence of input saturation, and finally A fast terminal sliding mode controller based on the adaptive finite-time disturbance observer AFTDO under input saturation is used to control the robot's walking foot motion. It is mainly used for the control of walking feet of multi-legged robots.

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(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