Research On Control Technology For Heavy-load Multi-legged Walking Robot Based On Workspace Discretization

With the development of science and technology, human exploration of theworld is constantly deepened and human activity space is continually expanding.Human are facing with more complex and diverse terrain. Space exploration, polarexpedition, mining, disaster relief, nuclear maintenance, military transport and otherareas require a lot of multi-legged walking robots. Robots already have a veryimportant role in many fields, so they become important and basic tools in new eraof industrial applications and technology exploration. Heavy-load multi-leggedwalking robot can adapt well to the rough ground and discrete terrain, so it can bearthe transportation task well in the complex ground environment. In the conventionalcontrol based on a mathematical model, it uses the idea of modeling and planningfirst and then controls it. This control method is complex in the process of modeling.In the control process，real-time reverse solution demands high speed of systemcalculations and real-time requirements. It should be considered how to reduce theinverse solution time and reduce the demand for real-time system that allows thesystem to have more time for other work. This paper does a research on controltechnology for heavy-load multi-legged walking robot based on foot workspacediscretization.Firstly, establish a mathematical model of multi-legged robot. Calculateforward and inverse kinematics of the swing leg and supporting leg. Calculateforward and inverse velocity of the swing leg. Analyze the robot foot workspace.Secondly, discretize the multi-legged walking robot foot workspace, with the footfeature point instead of the foot control point to control the shape of the curveapproximately. Examples are given to explain how to use polynomial and splineinterpolation for the trajectory planning of joint space and then get the foot trajectory.Analyze the angular position, angular velocity, angular acceleration curve of the joint and position, velocity, acceleration curve of the foot. Thirdly, design andanalyze hardware and software of the heavy-load multi-legged walking robot controlsystem. Design and analyze the related hardware circuit and software system torealize the modular design of the control system. Fourthly, analyze the changes offoot trajectory using different length of the sub block to discretize the footworkspace and select the appropriate length of the sub block to discretize the footworkspace. In the case of the given length of the sub block, examples are given toanalyze how single control point offset in single coordinate direction, single controlpoint offset in multiple coordinate directions, multiple control points offset inmultiple coordinate directions to change the foot trajectory.