Research On Continuous Brachiation Control And Experiment Of A Bionic-ape Dual-arm Hands Robot

The continuous brachiation of the Brachiation robot is a movement that mimics the swinging movement of the gibbons between the branches.Because the Brachiation robot system belongs to an underactuated mechanical system,it has the second-order non-holonomic constraint and the irreversibility of the motion,which makes it difficult to find a feasible trajectory for reliable continuous movement.In order to solve this problem,the design,simulation and experimental study of a continuous motion controller with a bionic-ape dual-arm hands brachiation robot based on the method of large damping and underactuation are used in this paper.In this paper,based on the analysis of the four stages of the adjustment of the continuous grab bar movement,the loose bar,the swing swing and the grab bar,the four stages of the motion controller are designed.The trajectory planning of the main drive joints in each stage was carried out respectively,and the trajectory tracking control was performed using the PID control law.Adjust the design of the stage controller and use the optimization method to optimize the design of each joint's target angle so that a large gravitational potential energy can be obtained in the early stage of the swinging phase,so that the underactuated joint can swing to a larger angle.The design of the loose pole stage controller is aimed at the problem that the robot joint angle error and the rod parameter error cause the kinematic judgment condition to be unreliable in the experiment when the loose rod end judgement is performed.The loose pole stage joint trajectory and the loose rod are designed.End condition.The oscillating stage controller is designed to enable the underactuated joint to oscillate at a slower speed under the coupling action of the main drive joint,and at the same time make the maximum angular velocity of the elbow joint path as small as possible,using the two segments of the trigonometric angular velocity trajectory.In the planning of the elbow angular velocity trajectory,the optimal design of the elbow trajectory parameters was designed based on the joint angular velocity evaluation function,the graspable evaluation function,and the elbow joint adjustment evaluation function.The design of the large damping grab bar stage controller uses a large damping underactuated back-feed feedback grab bar control method to reliably grasp the target bar.In this paper,simulation and experiment of BARDAH-I bionic-ape dual-arm hands brachiation robot are carried out.The ADAMS-MATLAB/Simulink cosimulation was performed in the swing phase and different spacings and heights respectively.The simulations show that the designed continuous brachiation controller can effectively realize continuous brachiation of the robot under multiple different rod spacings and heights.Finally,in the BARDAH-I bionic-ape dual-arm hands brachiation robot developed by the laboratory,three trusses per group were performed between truss rods with a pitch of 1 m and a target pitch of 0.5 m,0.6 m,0.7 m,and 0.8 m,respectively,A total of 12 gripper movement experiments,the experimental success rate of 100%.