Method and device for real-time control of joints of parallel biped robot

Abstract

The invention discloses a method and device for real-time control of the joints of a parallel biped robot. The invention is based on the continuity of the gait planning of the biped robot and the real-time performance of the closed-loop control of the joints of the biped robot, and uses the Newton-Raphson numerical algorithm to determine the joint angle. In the process of solving, the command value of the parallel joint angle control in the last cycle of the actual control is used as the initial value of the joint angle solution, thereby reducing the range of iterations, reducing the number of iterations, and achieving the goal of maintaining the requirements of the biped robot. Real-time solution for parallel joints at frequency.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method and device for real-time control of joints of a parallel biped robot. Background technique [0002] The body performance of the robot determines the limit performance of the robot itself. The drive mode of biped robot is divided into motor drive type and hydraulic drive type. Considering the large volume of the hydraulic drive source, it is difficult to apply it to the biped robot platform. At this stage, most biped robots still use motor drive. Due to the limited driving torque of the motor, its mechanical structure has a great influence on the motion performance of its body. There are three classic configurations of motor-driven biped robots so far. In-situ layout type, series type, parallel type. Among them, the in-situ layout type is mainly used in small imitations. Its structural feature is that the motors are arranged strictly according to the joint ...

AI Technical Summary

Problems solved by technology

This method reduces the moment of inertia of the robot's legs to a certain extent, but the motor that rotates in the direction of the ankle joint roll still causes a large moment of inertia

Parallel joints emerged as the times require. Parallel joint-type footed robots move up the pitch of the knee joint, the roll of the ankle joint, and the pitch. This increases the stiffness of the joints while greatly reducing the moment of inertia of the legs, improving the robot's mobility. However, due to the inherent properties of parallel joints, the roll and pitch angles at the ankle joints need to be realized through the calculation of parallel joints, especially the real-time calculation of parallel joint angles is difficult, which has a great impact on the real-time performance of robot control.

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