Research On Coordinate Motion And Control Of Quadruped Walking Robot

Quadruped walking robot can move flexiblely, and have strong adaptive movement ablility to the complex terrain, and then quadruped walking robot has wide application in the future, which is regarded more and more highly by people. Presently, the quadruped walking robot developed generally moves slowly, has consume much energy in the motion control. The main reason is control mechanism of harmonious motion and the structure of motion control system.Therefore, harmonious control mechanism of gait and joints, and the motion control system of the quadruped walking robot are studied in this dissertation.Firstly, the development and the status quo of quadruped walking robot are introduced, and the current quadruped walking robot's problems in motion control and main studying contents are discussed. Then, on the basis of analyzing the characteristic of mechanism of the quadruped walking robot, mathematical model to be controlled is presented, and the joint rotation angles when the robot is walking are calculated by kinematics analysis of the quadruped walking robot, and then analyzing moving site and workspace of the robot.Secondly, some concepts of gait of the robot are introduced, and the static stability of quadruped walking robot is analyzed. The harmonious and stable gait generation algorithms are designed to implement the walking for the robot. And then, thinking nergy consumption problem of the robots in mind, a new joints harmonious control strategy to realize the minimum energy consumption is proposed.Thirdly, according to the function requirement of the quadruped walking robot motion control, a layered and hierarchical control system based on ARM(Advanced RISC Machines) is given, and the overall design is completed. And then discusses detailedly the design of the hardware system and the design of execute procedure of the software.Lastly, the motion of the quadruped walking robot is simulated by Matlab environment, and a series of important results have been obtained. The effectiveness of the design project and the control strategy is proved. Lastly, the work of studing is summarized, including of achievements and shortages, and the future research and application are made expectation.