基于样条插值仿壁虎机器人足端脱附轨迹规划.docVIP

基于样条插值仿壁虎机器人足端脱附轨迹规划 　　摘 要： 针对仿壁虎机器人足端粘附脱附运动，提出了Spline三次样条插值与Matlab/Simulink 半实物仿真相结合的足端轨迹生成及优化的方法。合理选取关键节点，利用三次样条插值，可快速得到所需复杂的光滑轨迹曲线。设计了测试平台并进行半实物仿真，通过分析数据采集卡采集的脱附力的变化趋势，并合理调整三次样条插值数据节点，优化脱附轨迹及其法向力与切向力，使仿壁虎机器人单足脱附过程切向力和法向力保持在较小范围。验证了该方法在单腿运动轨迹生成中的有效性和可行性，为四足步态生成与爬壁实验奠定基础。 　　关键词： 仿壁虎机器人； 足端轨迹规划； 样条插值； SimMechanics仿真 　　中图分类号： TN409?34 文献标识码： A 文章编号： 1004?373X（2015）16?0009?04 　　Conglutination and desorption trajectory planning method for gecko?inspired robot foot?end based on spline interpolation 　　SUN Gongxun1，2， YU Zhiwei1， SHEN Danni1， WU Jiaming3， WANG Zhongyuan1， DAI Zhendong1 　　（1. Institute of Bio?inspired Structure and Surface Engineering， NUAA， Nanjing 210016， China； 　　2. College of Automation Engineering， NUAA， Nanjing 210016， China； 3. Huawei Software Technologies Co.， Ltd， Nanjing 210012， China） 　　Abstract： To plan conglutination and desorption trajectory of gecko?inspired robot， a method to generate and optimize the foot?end trajectory combining cubic spline interpolation with Matlab/Simulink semi?physical simulation is proposed. With proper selection of key node and cubic spline interpolation， the needed complex and smooth trajectory curve can be obtained. A testing platform was designed to carry out the semi?physical simulation. With the analysis on the change trend of the desorption force collected by data acquisition card and reasonable adjustment of cubic spline interpolation data nodes， the desorption trajectory， normal and tangential forces were optimized， which made the normal and tangential forces in the single?foot desorption process of the gecko?inspired robot to be kept in small range. Experimental result shows the reliability and efficiency of this method in the single?leg moving trajectory generation. The optimized trajectory can be applied in the gait planning and wall?climbing of gecko?inspired robot in the future. 　　Keywords： gecko?inspired robot； foot?end trajectory planning； spline interpolation； SimMechanics simulation 　　壁虎具