基于變長(zhǎng)倒立擺模型的雙足機(jī)器人步態(tài)研究與實(shí)現(xiàn)
本文選題:雙足機(jī)器人 切入點(diǎn):變長(zhǎng)倒立擺 出處:《天津理工大學(xué)》2017年碩士論文 論文類型:學(xué)位論文
【摘要】:雙足機(jī)器人的步態(tài)控制研究一直是智能控制的熱門領(lǐng)域,又由于雙足機(jī)器人的高自由度、高耦合的特點(diǎn),成為智能控制領(lǐng)域的難點(diǎn)問題之一。對(duì)于雙足機(jī)器人的研究是一個(gè)結(jié)合機(jī)械制造技術(shù)、自動(dòng)化智能控制技術(shù)、信息電子技術(shù)、軟件控制技術(shù)等多種學(xué)科,多種技術(shù)的融合課題。針對(duì)雙足機(jī)器人斜坡行走以及上臺(tái)階等非水平情境下穩(wěn)定性較差的問題,本文采用NAO雙足機(jī)器人作為實(shí)驗(yàn)平臺(tái),在控制算法上提出應(yīng)用光滑函數(shù)擬合的思想,區(qū)別于三次樣條插值,避免了速度和加速度的突變,保證了雙足機(jī)器人活動(dòng)的平穩(wěn)性,并完成了上臺(tái)階步態(tài)的仿真實(shí)驗(yàn)。本文致力于完成了以下工作:首先,進(jìn)行基于變長(zhǎng)倒立擺模型的建模研究。結(jié)合NAO機(jī)器人的固有參數(shù),將下肢的大腿、小腿、雙腳和髖軀干等效為七連桿模型,依照上臺(tái)階步態(tài)質(zhì)心和關(guān)節(jié)角變化特點(diǎn),建立變長(zhǎng)倒立擺模型以達(dá)到物理過程等效、簡(jiǎn)便計(jì)算的目的。然后,針對(duì)應(yīng)用三次樣條插值算法引起加速度突變的問題,本文提出采用光滑函數(shù)擬合的方法。本方法是對(duì)踝關(guān)節(jié)軌跡進(jìn)行規(guī)劃,并結(jié)合運(yùn)動(dòng)學(xué)和逆運(yùn)動(dòng)學(xué)原理,求解得到上臺(tái)階過程中下肢的各個(gè)關(guān)節(jié)角序列。再次,對(duì)NAO機(jī)器人行走的ZMP穩(wěn)定性進(jìn)行驗(yàn)證。分別通過實(shí)驗(yàn)闡釋本課題選用光滑函數(shù)擬合與三次樣條插值算法對(duì)踝關(guān)節(jié)進(jìn)行規(guī)劃在運(yùn)動(dòng)穩(wěn)定性上的差異,光滑函數(shù)你和方法提高了ZMP的穩(wěn)定裕度與行走的穩(wěn)定性。最后,搭建NAO深層開發(fā)環(huán)境,完成NAO連續(xù)上臺(tái)階步態(tài)實(shí)驗(yàn)。本文應(yīng)用Matlab、VS2010、Cmake編譯器、Webots PRO以及Choregraphe等相關(guān)軟件,搭建了雙足機(jī)器人的深層開發(fā)環(huán)境,利用NAO的控制臺(tái)程序完成模擬機(jī)和樣機(jī)的步態(tài)控制與實(shí)現(xiàn)。
[Abstract]:The research on gait control of biped robot has always been a hot field of intelligent control, and because of the characteristics of high degree of freedom and high coupling of biped robot, The research of biped robot is a combination of mechanical manufacturing technology, automatic intelligent control technology, information technology, electronic technology, software control technology and so on. Aiming at the problem of poor stability of biped robot in non-horizontal situations, such as slope walking and up steps, the NAO biped robot is used as the experimental platform in this paper. In the control algorithm, the idea of smooth function fitting is put forward, which is different from cubic spline interpolation, avoids the mutation of velocity and acceleration, and ensures the stability of biped robot. The following work is done in this paper: firstly, the modeling based on variable length inverted pendulum model is studied. Combined with the inherent parameters of NAO robot, the thigh and lower legs of the lower limbs are studied. The feet and the hip trunk are equivalent to the seven-bar model. According to the characteristics of the gait center of the upper step and the angle of the joint, an inverted pendulum model with variable length is established to achieve the purpose of physical process equivalence and simple calculation. In order to solve the problem of acceleration catastrophe caused by cubic spline interpolation algorithm, a smooth function fitting method is proposed in this paper. This method is used to plan the ankle trajectory and combine the kinematics and inverse kinematics principles. The angle sequence of the lower extremity in the process of stepping up is obtained. Again, The ZMP stability of NAO robot walking is verified. The difference of motion stability between smooth function fitting and cubic spline interpolation algorithm for ankle joint planning is explained by experiments. The smooth function can improve the stability of ZMP and the stability of walking. Finally, the deep development environment of NAO is built, and the step up gait experiment of NAO is completed. In this paper, we use Matlab / VS2010 / C make compiler, Webots PRO and Choregraphe, etc. The deep development environment of biped robot is built, and the gait control and realization of the simulator and prototype are accomplished by using the NAO console program.
【學(xué)位授予單位】:天津理工大學(xué)
【學(xué)位級(jí)別】:碩士
【學(xué)位授予年份】:2017
【分類號(hào)】:TP242
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