A Research On The Control Of Anti-terrorism Robot's Leg Deformation

With the continuous development of robot technology,the scope of the mobile robot is no longer confined to the room, but more applied to the accident scene search and rescue, engineering exploration, anti-terrorism and other outdoor areas. In recent years,natural disasters,man-made accidents,as well as terrorism at home and abroad are increasingly frequent, and there is a pressing need for robots which can replace people to work in a complex environment to avoid more casualties. However,it has a high requirement for robot to have the ability of obstacle performance,stability and efficiency. Therefore, it is of great significance to develop a kind of Anti-terrorism robot which can adapt to different environments.The aim of this thesis is to change the Anti-terrorism robot running posture through the leg deformation to adapt to different terrain environment, the stability,accuracy and rapidity of deformation are the main problems. The author presents the deformation strategy of the Floyd algorithm, simplifying somes common postures of robots to vertex of a directed graph, using the rotation angle of the motor and the offset of the center of gravity as the weight factors of the vertex transformation, so the deformation problems transform into the shortest path problem.Because the relationship between Anti-terrorism robot's four legs is parallel, and each leg is connected in series and symmetrical to each other, this thesis uses D-H model to model and analysis the the single leg of the robot kinematics, and extends to the entire structure. It constructs the gravity center model of Anti-terrorism robot,using the method for solving homogeneous deformation matrix in kinematics,finding out the formula for calculating the coordinates of the center of gravity of the robot in different postures is obtained,then determining the weight of the posture transformation, and realizing the function of deformation.Four track motor speed to maintain synchronization, in order to smooth and safe completion of the robot deformation, travel and other tasks. In this thesis, using MATLAB simulation to find out the most suitable for the synchronous control of the four motors. In order to improve the effect of synchronous speed, it adds a Fuzzy PID controller which can build the deviation coupling synchronization control model based on Fuzzy PID in Simulink environment. From the analysis of motor speed curve and error curve shows that four motor speed synchronization performance is good, which can be extended to practice.Experimental results prove the deformation method of Anti-terrorism robot based on Floyd algorithm can find the best transformation path between the two poses quickly and accurately, so the robot can change its shape at any time to adapt to different terrain environment.