Research On The Rigid-Flexible Coupling Wire-Walkiing Robot Based On The Control Of Ballancing Pole

The wire-walking robot is a kind of mechanical system which can keep self-balance and walk on a tight rope. This kind of robot is named of the high-wire walking show of human people. The intention of the study is to discover the internal law of the sport, and realize this kind of control on the mechanical device. The research of his article is to control the balancing pole to keep the robot self-balance, and this method is totally different from the gyroscopic effect of a flywheel. The former is much more similar to the actual sport. At present, there is not much research on these kind of control method, and only some theoretical analysis. None of the documents had done any experiments on a real robot.Firstly, some tentative analysis of the wire-walking sport has been done, and the lagrange model of the system that is only controlled by a rolling pole is established. Then the controller of the system is designed under the partial feedback linearization control algorithm. In which, the torque of the motor is taken as the input of the system, and the roll angle and its velocity of the body were taken as two of the system outputs. The other two outputs were the angle and its velocity of the balancing pole relative to the body.The computer simulation of the balance control is produced in the Adams software, and the simulation results just testified the effectiveness of the controller designed. Then a well-designed robot is made. The measurement and control system of the robot is based on the DSP28335, and the MCU is equipped with a MTi gyroscope and a photoelectricity encoder. The experiment on the robot told that it is available to control the robot walk on a rigid rope steadily only based on a rolling pole.Considering that people can make the balancing pole roll and move it to their left and right, then the mechanical structure was redesigned. The new robot is controlled by a rolling pole that coupled a translation pole. At the foundation of the former analysis, the control simulation of the new robot also testified the effectiveness of its controller, And the same result is shown with the experiment. The new robot can converge much faster than the old one, and the anti-jamming ability is greater too.The high performance robot is the precondition to conduct the experiment on the flexible wire. However, the result of the experiment is well enough as the former ones, which means that the rigid-flexible coupling robot is qualified to keep self-balance and walk on a flexible wire.The research of this article of the wire-walking robot is produced from simple to complex, and finished step by step. The two well-designed robots and the experiments have enriched the knowledge of the wire-walking robot based on the balancing pole.