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针对腿式机器人,讨论了腿式机器人稳定性控制与稳定性判定准则,基于稳定约束条件零力矩点(ZMP),提出一种干扰下的动态稳定性控制方法。落地冲击是跳跃机器人必须考虑的外干扰。所提出的稳定性控制方法是基于驱动性能约束下腿式跳跃机器人的动态平衡,运用ZMP平面加速度正交映射方法,进行地面冲击力干扰下的稳定性控制,在满足轨迹跟踪的同时保证了系统的动态平衡性。跳跃运动过程中的仿真结果表明,该方法是一种有效可行的腿式机器人抗干扰控制策略。
Aiming at the legged robot, the criterion of stability control and stability of legged robot is discussed. Based on the zero moment point (ZMP) of stability constraint, a dynamic stability control method is proposed. The landing impact is the extraneous disturbance the jumping robot must consider. The proposed stability control method is based on the dynamic balance of the legged jumping robot under the constraint of driving performance. The ZMP planar orthogonal acceleration method is used to control the stability of the legged jumping robot under the impact of the ground impact force. While the trajectory tracking is fulfilled, Dynamic balance. The simulation results show that this method is an effective anti-jamming control strategy for legged robots.