变刚度柔性关节的动态刚度辨识和控制方法研究-机械工程专业论文.docxVIP

哈尔滨工业大学工程硕士学位论文 哈尔滨工业大学工程硕士学位论文 万方数据 万方数据 Abstract The Flexible Joint with Adjustable Stiffness(FJAS) was introduced into the legged robots, with which the joint stiffness could be adjusted in real-time according to the different moving condition and terrain conditions, expect that FJAS can effectively reduce the contact force between the ground and the robot, as a result, the FJAS can play a part in reducing energy loss and protecting the robot body, besides that it can enhance the terrain adaptability. Some researchers have carried out research in this field and designed several flexible joint models with the adjustable stiffness, but because of the lack of effective real-time dynamic stiffness identification method, which induces that the joint real stiffness was hard to got in real-time, further which makes it hard to using the joint stiffness information as the feedback to form a closed-loop control system, as a result limits the application of FJAS to a large extent. Target at the problem, a deep study in the real-time dynamic stiffness identification of the FJAS was carried out firstly, on this basis, the study in the stiffness and motion control of FJAS was carried out. Firstly, aiming at the nonlinear characteristics of joint torque in the FJAS, in this chapter the Taylor expansion was introduced to substitute the nonlinear flexible torque, then the Kalman filtering algorithm was used to identify the coefficients of the Taylor expansion, base of which the stiffness identification algorithm was deduced. Given the effect of the control parameters changing while the joint stiffness adjusting, parameters was decoupled at first, then the Taylor expansion was executed, in this way the dynamic stiffness identification problem of FJAS was solved. In addition, the joint moment of inertia and damping coefficients are required when the joint stiffness was identified, so identification of these parameters was also studied. Secondly, aiming at the stiffness and motio