双足竞步机器人控制系统的分析与设计-analysis and design of control system for biped walking robot.docxVIP

4.2齐次变换...................................................................................................................234.3双足竞步机器人的运动学建模................................................................................244.3.1双足竞步机器人模型的建立.........................................................................244.3.2双足竞步机器人运动学方程........................................................................264.4机器人的运动学计算................................................................................................284.4.1站立腿的逆运动学计算................................................................................284.4.2摆动腿的逆运动学计算................................................................................314.4.3摆动腿的正运动学计算................................................................................324.5交叉足机器人步态规划............................................................................................324.5.1姿态轨迹的规划............................................................................................344.5.2关节转动角度曲线的生成.............................................................................354.6本章小结..................................................................................................................36第五章机器人控制系统软件设计与调试..............................................................................385.3实际测试..................................................................................................................475.4本章小结..................................................................................................................47第六章总结与展望................................................................................................................48参考文献.................................................................................................................................49附录一系统模块总原理图.....................................................................................................51附录二部分初始化源程序......................................