Research On Control Method And System Development Of Electric Drive Quadruped Robot

The unique body structure of quadruped mammals ensures their excellent sports ability,strong environmental adaptability and excellent stability performance,which also makes them grow into the most common biological population in the natural environment of natural selection.Compared with wheeled and tracked robots,quadruped robots derived from quadruped mammals have better trafficability.Therefore,in recent years,more and more intelligent equipment choose to use quadruped robot as the carrier platform,and its development has been paid more and more attention.In this paper,the quadruped robot is taken as the research object,and its control method and control system development are deeply explored.In order to realize the verification of control method and control system,this paper first develops an experimental verification platform named RC quadruped robot based on the body structure of dogs and bionics principle,establishes the kinematics model of the prototype and uses robotics The correctness of the model is verified by Toolbox to ensure the accuracy of the underlying algorithm of the control system;based on the principle of zero impact force,the trajectory of the swing phase foot end is designed by using the quintic polynomial curve,and a variety of gait laws are planned for it,which provides a theoretical basis for the development of the control system;the hardware of the control system is selected and the Lab VIEW software is used to develop a quadruped robot Finally,the performance of the control system is tested by multi gait experiment.The specific work of this paper includes the following six parts(1)Taking dogs as reference samples,combined with the physiological structure research of quadruped mammals,the topological structure design of experimental verification platform is planned,and the driving mode and specific form of power device are determined.A full elbow quadruped robot is developed,which provides a physical verification platform for motion control method and control system.(2)The kinematic model of the single leg of the prototype is established by using D-H method,and the transformation relationship between the body centroid coordinate system and the four leg foot ends is deduced,which provides a mathematical basis for the design of foot trajectory and gait planning.Using robotics Toolbox to verify the correctness of the single leg kinematics model,the single leg movement space is calculated based on the forward kinematics solution to determine the non-interference safe angle range.(3)Based on the principle of no impact force between the foot and the ground and the quintic polynomial curve,the motion law of the quadruped robot under walk and trot gait is analyzed,and the gait realization method suitable for the robot is designed,which provides theoretical basis for the construction of control system.(4)The hardware architecture of centralized control system including IPC,can bus analyzer,integrated driver and other components is built.Based on the motion calculation and planning method mentioned above,the control system of the quadruped robot is developed by using Lab VIEW software.The functional modules such as single axis control,foot inching,omni-directional body movement,walk gait walking and trot gait walking are designed for the robot.(5)Taking RC quadruped robot as experimental verification platform,the motion accuracy and stability of the robot are tested.The motion accuracy of the whole machine is tested by omni-directional translation of the trunk center.The stability level of the robot is tested through two dynamic experiments of step gait and trot gait,and the actual performance of the control system is determined.