Research On Single Leg Compliant Control Of Multilegged Robot

Multilegged walking robots have been generating a considerable interest, because of theirhigh performances in various robotic tasks and their great mobility and adaptability to therough terrain. The research on the robots is of momentous scientific significance and practicalapplication value.According to the present research and development trend of Multilegged walking robots,a compliance control system having open architecture was presented in the paper. The papermainly completed the structural design of control system, also realized the kinematics analysisof robot, finally, carried out the commissioning of system and the analysis of experimentaldata .The main work of this paper contains: Firstly, the fundamental theory of compliancecontrol was discussed, The theory of Force/Position hybrid control and the design of opensystem based on PC were adapted. Modular design methodology and expansion of functionwere the feature of this system, which make the design and the functional expansion easily.Based on D-H method, models on kinematics system are built. The kinematics forwardsolution can be deduced by a series of transformation equations, and the backward solutioncan also be deduced by algebra method. Then establish the experimental platform and describethe main components of every module in detail. The design of pressure acquisition is veryimportant. According to the experimental platform, the software interface was developed bymeans of the object-oriented VC. Finally, operated the system and saved experimental data,then carried out the analysis of experimental data with MATLAB. Experiments show that thesystem has good stability and accuracy, laying the foundation for further study.