六足机器人非结构化环境下的摆动腿运动规划与控制分析-swing leg motion planning and control analysis of hexapod robot in unstructured environment.docxVIP

AbstractHexapodrobotshavesuperiorabilityandpotentialtodealwithunstructuredenvironmentduetotheredundancyofitsstructureanddiscretenessofitsfootholds.Astheimportantlinkofthehexapodrobotlocomotion,therationalityoflegswingingmovementisdirectlyrelatedtotheperformanceofthewholemovementoftherobot.Therefore,tostudyswingingmovementofhexapodrobotleghasboththeoreticalandpracticalsignificanceintermsofthefurtherapplicationoftherobots.ThepurposeofthisthesisistoanalyzeandstudytheswinginglegmotionplanningandcontrolonruggedterrainaswellasaverificationbysimulationfocusedonthecompletedhexapodrobotHITCR-II,whichisbasedontheterrainlocalfeaturesoftheunstructuredenvironment.Firstly,thestudyconductedakinematicmodelingofthelegsusingkinematictheories,derivedthemathematicalrelationshipsofthemotionbetweentheendandthejointsofthelegs,analyzedtheworkspaceofthefoot-end,laidthefoundationforsequenceworkwhichcontainsmotionplanningandcontrol.Thevalidityofkinematicmodelhasbeenestablishedbysimulation.Onthebasisofhavinganalyzedthemechanismthathowtherobotselectitsfootholds,thestudyproposedamethodoffeatureextractingbasedontheshapeofthefoot-endwhichdescribesthelocalterrainmorepreciselyandafootholdpossibilityfunctionwhichcanproceedquantitativeevaluationaimedatfootholds.Thefootholdpossibilityfunctionhasimprovedtheabilityofterrainestimationandthereal-timelocomotionoftherobotefficiently,meanwhileasimulationexperimenthasbeenconductedtoconfirmthevalidityoftheterrainestimationstrategy.Afteradequateconsiderationabouttheimpactoftheterrain,thestudyfocusedonthemethodoftrajectoryplanningandcontrolforahexapodrobotwhenitslegdoingaswingmovement.Thestudyestablishedamodeloftrajectoryplanningofaswinglegbasedontheoptimalcontroltheoryandproposedanumericalsolutionbasedonsteepestdescentmethod.Thestudyalsodevisedajointservocontroller,thestabilityandfeasibilityofwhichhasbeenverifiedtheoreticallybyanalyzingthestabilityofthecontrollerbasedonLiapunovdirectmethod.Finally,asimulationplatformfortheswinglegwassetupbasedonADAMSandMatlab,on