Motion Emulation And Control System Research Of The Three Limb Robot

Three limb bionic robot is a novel multi-functional robot that has been based on the functional bionic research of mammals and insects. The robot adopts the limb mechanism design method, and its limbs can transform to walking mechanisms while moving, and to operating mechanisms while performing tasks. Its three limbs are designed as an isoceles triangle, and use permanent magnetic feet to keep balance while walking and operating. Its eleven joints are all driven by DC motors separately, and coax, knee and ankle joints employ worms to realize self-lock.Firstly, to address robot's special structure and various motion forms, hierarchical control and modularization design have been introduced, and the three-level controller consisting of PC, TMS320LF2407 and MSC1210 has been designed. After the construct of the motion simulation model, genetic algorithm is used to do the adjustment of PID parameters of the control system of the joint motors, integral separation PID control and angle error analysis is finished, and three force/torque sensors, touch sensors, distance sensors and photoelectric switches are calibrated and installed.Secondly, robot's various motion forms are generated and emulated by using Matlab. To plan its walking gait, biped robots'walking gait has been referred and two-as-one strategy has been employed, which combines the two concurrent side limbs into one, from which a practical walking gait algorithm is derived. Moreover, an optimization method based on minimal energy consumption is suggested and applied on the robot to attain optimized parameters. Emulation results show that robot has a continuous and stable walking gait.After the obtain of PID parameter and robot's expected joint angle trajectories, TMS320LF2407 and MCS1210 programs are compiled in CC'C2000 and Keil uVersion2 environments separately, CAN and SCI communication agreements are established, PC control interface is made by using Java, all of which have realized the software part of the control system.Finally, robot experiments have been done, including joints turning, hand/foot conversion, hand operation, and sampling and disposal of the sensors...