Research And Practice On Motion Control Technology Of Quadruped Robot

The quadruped robots have important research significance in the fields of mountain transportation,scientific exploration and military operations,due to the high adaptability and flexibility to complex environments.And in the fields of industrial production and life services,the quadruped robot also shows great potential,because the manufacturing industry upgrades to automation and intelligence in these years.This thesis studied quadruped robot's planning of the motion control and design of the control system as the experimental platform of the MQ quadruped robot designed by our team.Derived the forward and inverse kinematics of the robot's single leg structure,and the kinematic relationship of the proportional mechanism by the D-H coordinate method.The relationship between the position of the origin coordinates of the foot and the rotational variables of each derived joint was derived.Based on the static stability theory,planned the Walk gait from the initial pose.Determined the parameters about the gait and planned a simple foot's track according to the actual mechanism of the robot.Calculate the position angle of the motion planning under this set of parameters,verified the robot does not interfere with mechanical structure with this track.Analysis of the displacement of the center of mass of the fuselage in the three directions of X,Y and Z and verified the correctness and stability of the planned gait by the simulation of the method spline interpolation in the ADAMS.Selected the electrical components reasonably such as controller,drive and motor according to the requirements of the program planning,and completed the design of the electrical system,then form a complete experimental platform with the mechanical system.Written the motion control algorithm and homing algorithm to the controller with the the position control mode.And used the logic control program combined the steps of the gait to finish a complete control program.The motion control experiment was completed with the MQ quadruped robot experimental platform.Modified the control algorithm according to the experimental results,maximize the motion stability of the quadruped robot.