仿壁虎机器人运动控制：力反馈三维传感器及初步反馈行为-检测技术与自动化装置专业论文.docx

南京航空航天大学硕士学位论文 摘 要 仿壁虎机器人作为四足仿生机器人的一个分支，是特种机器人的研究热点。生物壁虎能够在 墙面、天花板等负表面上灵活运动，对运动面的适应能力很强。通过对壁虎身体结构和运动方式 的观察，使研制的仿壁虎机器人具有壁虎运动的优点，具有广阔的应用前景。 本文首先介绍了爬壁机器人和具有力反馈机器人控制的研究现状和进展。根据对生物壁虎的 观察，介绍了仿壁虎机器人的结构设计和驱动方式。对机器人三自由度单腿进行了正向与逆向运 动学分析，推导了机器人单腿的运动学方程和运动学逆解，并通过 SimMechanics 验证了运动学逆 解的正确性。设计了仿壁虎机器人控制系统，硬件采用 LPC2103 微控制芯片，软件平台采用 uC/OS-II 嵌入式操作系统，提高了仿壁虎机器人的实时性，并且能够通过无线模块 MC55 传输控制机器人运 动的命令。在机器人足端安装了三维力传感器，经静态标定得到三维力传感器的解耦矩阵，并设 计了三维力传感器信号放大电路。将仿真得到的步态写入控制系统并进行爬行实验，与仿真结果 相比较，验证了控制系统的可行性。 对生物壁虎在墙面爬行的受力进行分析，提出了仿壁虎机器人在墙面爬行的力控制策略。设 计了仿壁虎机器人单腿对力/位置的刚度控制算法，通过半实物仿真平台，验证了机器人对足端三 维力跟踪算法的可行性。将力反馈控制策略加入机器人控制系统，实现了仿壁虎机器人在墙面的 稳定爬行。 关键词：四足机器人，仿壁虎机器人，力反馈，机器人控制系统 i 仿壁虎机器人运动控制：力反馈三维传感器及初步反馈行为 ABSTRACT As a branch of biomimetic quadruped robots, the gecko-inspired robot is a research focus of advanced robot. Gecko can move flexibly on the surface of different normal direction such as steep wall, ceiling,etc, it has well kinematics dexterity and adaptability to the ground.According to observation of gecko’s body structure and motion, the gecko inspired robot inherts advantage of gecko in locomotion, and it has a wide application prospect. At first, the research progress of the wall-climbing robot conrol system and force-feedback robot was introduced. According to the research of the gecko, the mechanical structure and type of driving on gecko-inspired robot was designed. The forward and reverse kinematics of the 3-DOF leg was analyzed, the kinematics equations and inverse kinematics was derived and verified in SimMechanics. The robot control system based on LPC2103 and uC/OS-II is designed, which enhanced the real-time of the robot, and control command can transmit by wireless module MC55. The robot’s arms was installed a 3D force-senser which is calibrated and got decoupling matrix. The force signal amplify circuit is designed.The simulated gait was writed into the control system and experiment is proceeded. Comparing to the simulation, verified the control system’s feasibility and accuracy. B