The Motion Control Research Of Primates Bionic-Robot

Bionic-Robot is the best combination of various advanced technique in Bionics and various application of robots. Bionic-Robot is the stratosphere of robot's development, and it is the perfect integration of Bionic-technique which has been fully applied to design robot. In motion control area, Bionic-technique is at the foreland. Imitating the motion characteristic of Primates is the difficulty in this subject, so we studied the simplified two-link Bionic-robot which imitates the gibbon.Based on the behavior and motion of gibbon, the basic principle and control target of the simplified two-link gibbon robot is studied. By applying the Lagrange equation and analyzing the postural characteristic of gibbon, the dynamical modeling of the bionic robot is achieved. The dynamics shows that it has higher degrees of freedom than actuators, so it is an underactuated system which has higher nonlinearity.According to the motion control target of this robot, which is not to stabilize the origin of the system but to process the motion control by considering the control target, the VSS (Variable Structural System) theory is applied to design the control system of the robot. The numerical simulation indicates that the VSS controller can drive the robot to accomplish the desired motions, and it has good robustness.In order to demonstrate the dynamical characteristic of the bionic robot more vividly and verify performance of the control scheme more effectively, a set of ADAMS-MATLAB dynamic simulation platform is established based on the virtual prototyping technology. The simulation model on this platform has the maximum comparability with practical model, and then better verified effect can be achieved for the presented control design. Also, a typical example of control design (stability control of the ball-and-beam system) is executed on the platform to display the overall operation process, and the simulation results are reasonable.Finally, simulation experiments are implemented on the ADAMS-MATLAB dynamic simulation platform for the bionic robot based on the prompted VSS controller, and the results showed the feasibility of the control scheme.