基于足端轨迹规划的四足机器人运动学分析与仿真

郭建, 赵易, 徐镔滨

机床与液压 ›› 2021, Vol. 49 ›› Issue (23) : 48-53.

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机床与液压 ›› 2021, Vol. 49 ›› Issue (23) : 48-53. DOI: 10.3969/j.issn.1001-3881.2021.23.010
工业机器人专栏

基于足端轨迹规划的四足机器人运动学分析与仿真

  • 郭建, 赵易, 徐镔滨
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Kinematics Analysis and Simulation of Quadruped Robot Based on Foot Trajectory Planning

  • GUO Jian, ZHAO Yi, XU Binbin
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摘要

为了减少四足机器人在行走过程对地面的冲击,提出一种改进动静步态的五次多项式的足端轨迹规划。推导了改进五次多项式的数学公式,利用机器人运动学知识计算机器人的运动学逆解。根据数学推导,分析机器人足端速度和加速度的理论曲线。利用ADAMS对机器人在三角步态和对角步态下进行运动仿真,对比了足端轨迹的理论结果和仿真结果,分析了仿真情况下机器人质心变化和RPY角变化。理论分析和仿真结果一致,验证了改进足端轨迹的正确性。

Abstract

In order to reduce the impact of the quadruped robot on the ground during walking, a fifth-order polynomial foot trajectory plan was proposed to improve the dynamic and static gait. The mathematical formula of the improved fifth-degree polynomial was deduced, and the inverse kinematics solution of the robot was calculated using the knowledge of robot kinematics. According to mathematical derivation, the theoretical curves of the speed and acceleration of the robot foot were analyzed. Using ADAMS to simulate the movement of the robot in the triangular and diagonal gait, the theoretical results of the foot trajectory and the simulation results were compared, and the change of the robot's mass center and the change of the RPY angle in the simulation were analyzed. The theoretical analysis and simulation results are consistent, verifying the correctness of the improved foot trajectory.

关键词

四足机器人 / 足端轨迹规划 / 运动学分析

Key words

Quadruped robot / Foot trajectory planning / Kinematics analysis

引用本文

导出引用
郭建, 赵易, 徐镔滨. 基于足端轨迹规划的四足机器人运动学分析与仿真[J]. 机床与液压, 2021, 49(23): 48-53 https://doi.org/10.3969/j.issn.1001-3881.2021.23.010
GUO Jian, ZHAO Yi, XU Binbin. Kinematics Analysis and Simulation of Quadruped Robot Based on Foot Trajectory Planning[J]. Machine Tool & Hydraulics, 2021, 49(23): 48-53 https://doi.org/10.3969/j.issn.1001-3881.2021.23.010

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基金

广东省普通高校青年创新人才项目(2019KQNCX212);华南理工大学广州学院优秀骨干教师项目(52-CQ18YG22)
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