【作者】 陈杰；

【导师】 赵杰；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2012， 硕士

【摘要】 六足机器人结构的冗余性以及落足点的离散性使其具有更加卓越的应对非结构化环境的能力和潜质。腿部摆动作为六足机器人移动的重要环节，其合理性直接关系到机器人的整体运动性能。因此，开展腿部摆动策略的研究对于机器人的进一步应用有着十分重要的理论和现实意义。本课题的目的是，针对已经完成的六足机器人本体HITCR-II，基于非结构化环境的栅格模型，分析和研究其腿部在崎岖地面上的摆动时的运动规划与控制方法，并完成仿真验证。首先在对六足机器人本体结构进行概述的基础上，应用机器人学理论对机器人摆动腿进行了运动学建模和分析，推导了足端运动与各关节运动之间的数学关联，分析了足端工作空间，为后续的运动规划和控制奠定了基础。通过仿真验证了运动学模型的正确性。在对六足机器人移动过程及落足原理进行分析的基础上，结合机器人足端形状提出了一种地形特征提取方法，更加准确的描述了地形的局部特征。设计了能够直接对落足点进行定量评估的可落足性函数，可有效提高机器人的地形判断能力和运动实时性。通过仿真实验验证了该地形评估策略的有效性。在充分考虑地形约束的情况下，研究了六足机器人腿部在摆动过程中的轨迹规划和控制方法。基于最优控制理论建立了摆动腿轨迹规划模型，并且提出了一种基于最速下降法的数值解法。设计了腿部关节伺服控制器，利用李雅普诺夫直接法对控制器性能进行了分析，从理论上证明了控制器的稳定性和可行性。最后，建立了基于ADAMS和MATLAB的摆动腿仿真平台，进行了轨迹规划与控制方法仿真实验研究，并对仿真结果进行了分析，验证了所提算法的有效性。更多还原

【Abstract】 Hexapod robots have superior ability and potential to deal with unstructuredenvironment due to the redundancy of its structure and discreteness of its footholds.As the important link of the hexapod robot locomotion, the rationality of legswinging movement is directly related to the performance of the whole movementof the robot. Therefore, to study swinging movement of hexapod robot leg has boththeoretical and practical significance in terms of the further application of therobots.The purpose of this thesis is to analyze and study the swinging leg motionplanning and control on rugged terrain as well as a verification by simulationfocused on the completed hexapod robot HITCR-II, which is based on the terrainlocal features of the unstructured environment.Firstly, the study conducted a kinematic modeling of the legs using kinematictheories, derived the mathematical relationships of the motion between the end andthe joints of the legs, analyzed the workspace of the foot-end, laid the foundationfor sequence work which contains motion planning and control. The validity ofkinematic model has been established by simulation.On the basis of having analyzed the mechanism that how the robot select itsfootholds, the study proposed a method of feature extracting based on the shape ofthe foot-end which describes the local terrain more precisely and a footholdpossibility function which can proceed quantitative evaluation aimed at footholds.The foothold possibility function has improved the ability of terrain estimation andthe real-time locomotion of the robot efficiently, meanwhile a simulationexperiment has been conducted to confirm the validity of the terrain estimationstrategy.After adequate consideration about the impact of the terrain, the studyfocused on the method of trajectory planning and control for a hexapod robot whenits leg doing a swing movement. The study established a model of trajectoryplanning of a swing leg based on the optimal control theory and proposed anumerical solution based on steepest descent method. The study also devised a jointservo controller, the stability and feasibility of which has been verified theoreticallyby analyzing the stability of the controller based on Liapunov direct method.Finally, a simulation platform for the swing leg was set up based on ADAMSand Matlab, on which the simulation experiments about trajectory planning andcontrol method have been done and analyzed, verifying the validity of the algorithm mentioned above.更多还原