【作者】 曲太旭；

【导师】 张连东；

【作者基本信息】 大连交通大学 ， 机械制造及其自动化， 2010， 硕士

【摘要】 随着科学技术的发展,机器人逐渐地走进了人类的生活。国内外很多学者进行步态规划方面的研究,大多数情况没有考虑外力作用,这与人类真正意义的行走还有很大的区别。为了使其更好的适应环境,双足机器人动态平衡控制已经成为机器人学中一个非常重要的研究领域。本文以德国AMTEC公司生产的PowerCube模块设计的16自由度模块化双足机器人为蓝本,进行动态平衡控制研究。本文首先总结了IMU惯性测量单元的发展情况,根据数学表达式和受力情况的不同,在Matlab软件Simulink中对其进行建模和仿真,并验证建立模型的正确性。分析了其控制系统的响应特性,采用PID控制器进行校正,建立校正系统仿真模型。把模块化双足机器人的结构简化为19杆连杆模型,按照Denavit-Hartenberg法则,分别推导出模块化双足机器人上肢和下肢的数学模型,进行了运动学分析,分别得出上肢和下肢运动学的正解和逆解。在模块化双足机器人动态平衡控制研究中,首先总结了双足机器人的基本控制方法,将模块化双足机器人简化为三阶倒立摆模型,采用最优控制进行控制研究。将IMU惯性测量单元应用到模块化双足机器人上,对外力进行分类,设计控制流程图和控制结构图,以及后退动作。稳定性是机器人控制的基础,根据ZMP理论研究其稳定性,求出取值范围。以重心的位移在空间运动的距离最短为优化目标,根据静态等价尺寸链法,求解出重心的位移和加速度,采用五次多项式曲线拟合方法对各个运动关节进行轨迹规划。利用Matlab软件对模块化双足机器人的各个关节的位移、速度、加速度,进行仿真。对仿真结果进行分析,检验运动关节轨迹规划结果的合理性。更多还原

【Abstract】 With the development of modern science and technology, the robots have stepped into our lives gradually. Most of schoolars at home and abroad research on gait planning, but the function of external force is not considerated in most cases. This is different from real meaning human walking. In order to make the robot adapt to exteral environment, dynamic balance control of biped humanoid robot has become a vital research rigion of robotics. The dynamic balance control is researched basing on 16 DOFs module biped humanoid robot with powercub, which is produced by AMTEC Corporation from German.Firstly, the development of IMU is introduced. It is modeled and simulated in simulink of Matlab, and the model’s accuracy is demonstrated according to mathematical expression and different force conditions. The reponse of control system is analyzed, and the PID controller is used to regulate the model. The simulation model is established. The module biped humanoid robot is simplified for 19 links. According to Denavit-Hartenberg rule, the module biped humanoid robot’s upper and lower limbs’mathematical model is derived.At frist, the basic control methods of biped robot are summarized in dynamic balance control. The module biped humanoid robot is simplified for third-order inverted pendulum model, whose control research is based on optimal control. The IMU is used on module biped humanoid robot, the external force is classed, the control flowchart and structure are designed, and recession movement is planned. Becased the stability is the base of robot’s control, according to ZMP theory, the value range is figured out. The optimal target is the displacement of COM’s motion is the shortest. According to Statically Equivallent Serial Chains, the displacement and acceleration of COM is figured out, and the fifth degree polynomial curve is used to plan the each link’s trajectory. The dispalcement and velocity and acceleration are simulated in Matlab. Accordingly to analysis of simulation results, the rationality of link’s trajectory planning is verified.更多还原