基于激光雷达的多关节机器人姿态自动控制研究
2022,30(12):161-167
摘要：为了避免机器人坡面行进姿态与平坦地形直行姿态出现较大偏差，保证多关节机器人运动稳定性，研究基于激光雷达的多关节机器人姿态自动控制方法。结合激光雷达定位导航技术，构建CPG单元振荡器模型，根据运动步态生成原则优化处理足结构参数，完成多关节机器人的运动姿态参数设定。根据姿态参数设定结果实现运动坐标转换，利用动力学方程的简化与分解表达式，确定非线性耦合项参数化处理结果，整合所得变量数据建立反馈控制器连接闭环，利用反馈控制器连接闭环自动控制多关节机器人姿态。对比实验结果表明，在激光雷达技术作用下，机器人上、下坡步长与平坦直行步长之间的误差最大值仅为10%，机器人行进过程中不会出现明显晃动情况，多关节机器人运动稳定性较高。
关键词：激光雷达；多关节机器人；姿态控制；CPG振荡器；运动步态；反馈控制器；
Research on automatic attitude control of multi joint robot based on laser radar
Abstract：In order to avoid the large deviation between the robot's traveling posture on slope and that on flat terrain, and to ensure the stability of the multi joint robot's motion, an automatic attitude control method of multi joint robot based on Laser radar is studied. Combined with the laser radar positioning and navigation technology, the CPG unit oscillator model is constructed, and the foot structure parameters are optimized according to the motion gait generation principle, and the motion posture parameters of the multi joint robot are set. According to the result of attitude parameter setting, the motion coordinate conversion is realized, and the nonlinear coupling term parameterization processing result is determined by using the simplification and decomposition expression of the dynamic equation. The feedback controller connection closed loop is established by integrating the obtained variable data, and the multi joint robot attitude is automatically controlled by the feedback controller connection closed loop. The comparative experimental results show that under the action of lidar technology, the maximum error between the steps of up and down slope of the robot and the step of flat straight travel is only 10%, the robot will not appear obvious shaking in the process of traveling, and the motion stability of the multi joint robot is high.
Key words：Laser radar; Multi-joint robot; Attitude control; CPG oscillator; Motor gait; Feedback controller;
收稿日期：2022-08-24
基金项目：2021年度广西高校中青年教师科研基础能力提升项目（2021KY1273?）
