The Control Method Of Hexapod Robot Motion Instability Based On The Shock Impedance Algorithm Of Energy Margin

When the hexapod robot is moving on the rough terrain,we must adjust the stability of its motion in real time,and the corresponding measures should be taken to restore stability in the case of instability,so as to avoid damage to the body.In this paper,the stability determination and instability recovery strategy of the hexapod robot which moving on the condition of rough terrain are studied and analyzed,and the unstable adjustment strategy is put forward.Firstly,the motion and structural characteristics of the hexapod robot are analyzed,and based on the established D-H mathematic model,the kinematics and inverse kinematics of hexapod robot legs is analyzed,then the hexapod robot speed and angular velocity are analyzed by the Jacobian matrix,while the dynamics analysis of the hexapod robot is carried out,including the system kinetic energy,the system potential energy and the joint driving torque.Next,by contrast to the determination of stability on the foundation of kinematics analysis of hexapod robot.According to its advantages and disadvantages,the standardized energy stability margin is used as the static stability of the hexapod robot's judgment basis,and analyzes the influence of the real-time focus,height of gravity,foot stroke,slope degree on the stability of the hexapod robot,which provides a theoretical basis for the gait planning and structure design.Then,based on the analysis of the robot's stability,in view of the problem that hexapod robot walks on the rough terrain is easy to be subjected to the external force and lose stability,put forward a kind of support force,the position of the center of gravity,the dynamic stability of face angle,motion characteristics and robot impedance characteristic analysis method considering,and the mathematical model of the dynamic stability of the robot based on the energy stability margin of the shock impedance is established.And the influence of various interference factors on the dynamic stability of the hexapod robot is analyzed.Finally,solving the analytic solutions of space to adjust the legs for the edge rollover instability cases,and choose the suitable foothold on the principle of maximum arm force.A polynomial curve interpolation method is adopted to adjust the process with compliant treatment within the available adjustment time range to restore the stability of the hexapod robot.The validity of the algorithm is verified through comparison and analysis of experiment and simulation.At the same time,through the analysis of Adams-Simulink joint simulation,the real-time performance of the instability adjustment strategy is verified.