United Simulation Of Diagonal Gait And Study Joint Stability Control For Hydraulic Four Legged Robot

Gait planning plays a leading role in the steady walking of hydraulic quadruped robot in complex environment,which affects many important aspects,including the stability,power consumption and environmental adaptability of robots.However,in the classification of gait,diagonal gait has a certain advantage in speed as a typical gait.Therefore,it attracts many scholars at home and abroad.In this dissertation,a hydraulic quadruped robot,designed and developed by the laboratory as a research platform,is designed for diagonal gait planning,and a controller is designed to make it more stable:The hydraulic quadruped robot designed by the laboratory is taken as the research object.The kinematics model is established by D-H method,and the relative relation between the foot end coordinate and the joint is studied.The Lagrange method is used to set up a dynamic model to study the force and torque parameters of the robot.It provides theoretical guidance for the subsequent diagonal gait planning and simulation.Studied.The foot trajectory of the quadruped robot is studied by combining the compound cycloid and the sinusoidal trajectory.Based on the ADAMS virtual prototyping technology,the virtual prototype model of the hydraulic quadruped robot is established,which is ready for the follow-up simulation analysis.The joint simulation platform of ADAMS and MATLAB is set up to study the rationality of the diagonal gait planning of the hydraulic quadruped robot.At the same time,a fuzzy PID controller is designed to study the displacement precision of the hydraulic cylinder of the quadruped robot.The theoretical support is provided for the physical experiments of the diagonal gait stability control of the following quadruped robots.The physical prototype test rig of the hydraulic quadruped robot is set up.By using the hydraulic prototype of the four legged robot,the fuzzy PID controller is studied to control the displacement of the hydraulic cylinder of the quadruped robot,which is reasonable and effective.In this dissertation,the laboratory developed hydraulic quadruped robot as the research object,the diagonal gait planning,and joined the stable movement can make the fuzzy PID control in the control system,and then use the MATLAB and ADAMS united simulation analysis,finally through the physical prototype experimental validation of the controller,the controller is verified the validity and rationality.