两足步行椅机器人步行稳定性及关节伺服控制研究-机械电子工程专业论文.docx

公式可用于研究乘客身体晃动对步行稳定性的影响。具体公式如下‰2——面矿 公式可用于研究乘客身体晃动对步行稳定性的影响。具体公式如下 ‰2——面矿广NUMl+Ty—rlfz+rz{x YZMV 2——面面：F—一 式中： 器～不考虑乘客干扰时自勺ZMP点x座标 罱～不考虑乘客干扰时的ZMP点y座标 识，r，‘)^一乘客干扰合力作用点位置向量 {六，^，正卜一乘客干扰合力 扛，，r。r，卜一乘客干扰合力矩 4)对两足步行椅机器人稳定性问题进行了研究。分析了乘客身体晃动对步 行稳定性的影响。通过研究发现乘客某种频率和幅度的身体晃动可以使 原来不稳定的步态恢复稳定，这一结论说明可以利用乘客的身体晃动来 提高步态的稳定阂度。从外界干扰强度大小的角度对步态稳定性问题进 行分析，给出了处理较小和中等规模干扰的解决方案，即基于动力学模 型的稳定性控制方法和基于步态局部调整的稳定性控制方法。 5)利用虚拟样机技术，进行了两足步行椅机器人关节伺服控制的初步研究。 采用PD控制器得到了较好的步态控制效果。为了提高脚触地过程的稳定 性设计了一种踝关节柔顺控制器。利用遗传算法进行PD参数整定，取得 了很好的效果。 关键词：两足步行椅机器人，ZMP稳定闽度，质量分布，关节伺服控制 第ii页 WAI，ⅪNG WAI，ⅪNG S11ABILITY ANALYSIS AND JOINT SERV0 CONTROL OF A BIPED WALKING CHAIR ROBOT ABSTRACT The biped walking chair robot(WCR)is a kind of robot that can load people or goods．Through WCR study,we can provide those lower limb disable people a new transportation．WCR can also be used cargo transportation in complex environment． WCR is a platform for the study of complex system control，human-machine interface and embedded software development etc．Based on the WCR study objects above， questions and results studied in this paper are listed below： 1)Develop WCR based on VP(Virtual Prototype)technology．The mechanism and西ntrol system model of the WCR is constructed．The CO—simulation of mechanism and control system is fulfilled．With the VP model，the mechanism system，walking gait and gait control is studied，which provide a solid ground for mechanism and control system design． 2、With the reference coordinate on the upper body,a close-form inverse kinematics solution of the WCR is deduced．Gait design method is given based on the close—forill inverse kinematics solution．Gait transform algorithm is extended from 2D to 3D． 3)Study mass distribution influence on ZMP threshold and walking efficiency． We found a proper selected mass distribution can increase ZMP threshold and walking efficiency greatly．To be detailed，ZMP threshold increas when thigh ‘S CoG(Center of Gravity)move tO hip joint and calf’S CoG move to ankle joint．Higher body C