【作者】 刘洋；

【导师】 罗翔；

【作者基本信息】 东南大学 ， 机械电子， 2020， 硕士

【摘要】 本文为23自由度电机驱动型双足步行机器人设计了柔性踝关节,并设计其关节运动控制器。首先,对机器人模型进行介绍,阐述实验室主要研究的步行思想:两点式步行理论。介绍机器人机械结构参数,并根据结构特性将机器人控制系统分为三大类,在各类控制系统内部建立基于模型的关节位置控制。其次,根据机器人步行与站立平衡需求设计柔性踝关节控制算法,包括位置控制与力控制策略。横滚位置控制依据奇异摄动理论设计快慢双维控制器,并将其与一维PID控制器进行比较,体现了其优越性。横滚力控制主要设计摩擦力辨识方法进行前馈补偿。俯仰位置控制采用高增益PID控制器,在位置控制稳定有效的基础上设计了基于导纳模型的俯仰力、位切换的控制策略。然后,介绍机器人关节控制器软硬件设计过程,硬件系统包括传感器安装、传感器采集板、小腿部位驱动母板设计。软件设计了基于Ether Cat建立的主、从站通信程序,基于CAN通信建立从站与传感器采集板和驱动母板控制程序,基于SPI通信总线连接姿态传感器与传感器采集板的通信程序。利用MATLAB Simulink建立机器人控制算法模型,并定义输入输出接口,将算法生成嵌入式代码。最后,搭建实验环境,将以上软硬件应用于机器人实体,将程序中的角度定义与机器人角度定义进行匹配。设计力传感器标定实验,在通信验证试验、传感器验证实验成功的基础上设计踝关节力控制、位置控制实验,通过调整控制参数使得系统调整时间以及稳态误差满足控制要求。之后设计机器人站立平衡实验,最终证明了机器人各通信系统协调运行且设计算法有效可靠。更多还原

【Abstract】 This paper designs a flexible ankle joint for a 23-degree-of-freedom motor-driven biped walking robot,and designs its joint motion controller.First of all,the robot model and the main walking idea of the laboratory is introduced:two-point walking theory.This paper introduces the mechanical structure parameters of the robot,divides the robot control system into three categories according to the structural characteristics,and establishes the joint position control based on the model in each control system.Secondly,the flexible ankle joint control algorithm is designed according to the robot walking and standing balance requirements,including position control and force control.Rolling position control is designed based on the singular perturbation theory to design a fast and slow two-dimensional controller,and compare it with the one-dimensional PID controller,which reflects its superiority.Rolling force control is mainly designed for friction force identification method for feedforward compensation.Pitch position control adopts high-gain PID controller,designed an admittance control method based on the effective position control.Then,the hardware and software design process of the robot joint controller is introduced.The hardware system includes the design of sensor installation,sensor acquisition board and the driver board for the lower leg.The software system includes designs the communication program for the master and slaves based on Ether Cat,the control program of the slaves and the sensor acquisition board and the drive motherboard based on CAN.Design the communication program to connect the attitude sensor and the sensor acquisition board based on the SPI bus.Using matlab to make embedded control code.Finally,build an experimental environment,apply the above software and hardware to the robot,and match the angle definition in the program with the robot angle definition.Design the force sensor calibration experiment.Design the force and position control experiment of ankle joint based on the successful communication verification test and sensor verification.Adjust the control parameters to make the system adjustment time and steady-state error meet the control requirements.Later,the robot standing balance experiment was designed,which finally proved that the various communication systems of the robot coordinated operation and the design algorithm was effective and reliable.更多还原