Research Of Minirobot Precise Control

The application of humanoid robot in human society is getting more and more wider.Robot is hailed as the highest sense of automation.Robot technology represents the highest achievement of mechatronics,it contains scientific research results of many subjects,including computer technology,artificial intelligence,mechanical electron,automatic control,it is one of the most active technology development areas.Dance robot is a branch of humanoid robot.It has a good attraction to people by personating transform in hardware and software development with purpose of person viewing and entertainment.This thesis presents the concept of precise control and research from single robot control to multi robot control in the platform of minirobot.Firstly,the thesis analyze the resources of experimental platform.Aiming at the problem of difficulty in minirobot action planning and combining the features and advantages of virtual prototype,we finally decide to use virtual simulation method for minirobot action planning.We build the virtual prototype model of minirobot in the ADAMS according to the size and degree of freedom of physical prototype and finish the model verification.Secondly,we use the three spline interpolation and three-point method to plan the robot gait and judge the stability with ZMP.We import the planning data in ADAMS to verify the planning results and import the simulation data in physical prototype to verify the validity of virtual prototype.Thirdly,aiming at the blindness of traditional gait planning,this thesis use the particle swarm optimization which can directly optimize the most appropriate gait parameters for the robot.The comparison before and after optimization demonstrate the superiority of the gait optimization.Finally,aiming at the demand of multi robot show,this thesis has equipped wireless communication module for the multi robot system.The wireless communication system is realized by the way of "centralized command and decentralized control".This thesis has also developed robot thousand-hand bodhisattva which contains technical problems of communication and coordination on the base of wireless communication system.Aiming at the low intelligent degree problem of multi robot system,a "brain" which can help the system to realize robot synchronization control has been developed in the base of agent theory.