Research On Six-legged Based Control Of ADRC

In recent years, with the continued exploration of nature, human beings have many unknown places inconvenient or impossible to reach, such as volcanic caves, submarine detection, extraterrestrial surfaces, etc. but the robot can replace humans to accomplish specific tasks. Multi-legged robot crawler compared with wheeled robot can adapt to the environment, with better flexibility and stability, but there are still many problems on the control, the paper disturbance compensation problem for the design of ADRC control system six-legged robot control study.First, designed the mechanical structure of Six-legged robot, the body and legs to determine a good size, and has designed a robot mechanical analysis, kinematics analysis, using the geometric method of inverse kinematics derivate the Six-legged robot, and get the relationship between the joint angle and get motion state. Build the dynamic model of the Lagrange method to get the moment when the movement changes with the state of motion equations, provide a basis for control.Then analyze the basic gait Six-legged robot, after analysis, using Six- legged robot kinematics and inverse kinematics to the conclusion, curve fitting with the approach to planning the foot end of the track. Then use MATLAB software written by the foot end of the track is converted into a joint angle prog ram calculates the angle of each joint in straight motion, lateral movement, height adjustment, rotation curves during exercise.Finally, design an ADRC control system, analyzes the function and principle from the various components of the anti-rejection controller, Build a DC torque motor model. Using MATLAB-Simulink to build a single joint of the leg with the classic PID controller, and simulation is verified by comparing the effect of the controller. The entire leg dynamics model and enough side force feedback through the ADRC and the completion of the leg movement when disturbed by the simulation, to achieve control Six- legged robot.In this paper, it analyze the simulation results, and the results has provided help obtained for subsequent research, and has a certain value in engineering.