Research And Implementation Of The Motion Control System Of Electric Driven Quadruped Robot

Compared with wheeled and tracked robots,walking robots have unparalleled advantages.In rugged mountainous areas and muddy swamps,walking robots can use a separate ground to support them,thus adapting to the rugged terrain and realizing allround walking.Therefore,the foot robot has better flexibility and adaptability.With its superior performance,quadruped robots are widely used in fields such as flood resistance,detonation,military transportation,education and entertainment,agricultural production,field exploration and interplanetary exploration.In recent years,with the increasing demand and application of quadruped robots,quadruped robots have become a research hotspot.Firstly,this paper studies the single leg motion of quadruped robot,establishes DH coordinate system,and solves the positive and negative solutions of robot through the mapping relationship between angles.The advantages and disadvantages of several workspace are compared,and the typical numerical method Monte Carlo method is selected to solve the single leg motion space by MATLAB software.In order to verify the correctness of this method,several different solutions are randomly generated in the leg workspace.In this article,the PMAC Ethernet bus controller ck3e-1310 is used to control the quadruped robot through a layered control method.In order to realize the information interaction between the robot and the external environment,the U switch and other sensors were selected to collect external data.This paper studies the gait of the quadruped robot.Combined with the research background and application status of quadruped robots,walking gait was selected as the research gait.The interpolation algorithm embedded in the controller is optimized,the basis of the selection of interpolation points is studied,and the motion trajectory of the sole of the quadruped robot is generated by PVT interpolation according to the existing and mature cycloidal speed change rules.trajectory.At the beginning of the movement,the leg joints of the quadruped robot are actively zeroed according to the way of the industrial robot,so the robot has a fixed initial position and posture.The single leg of the quadruped robot was simulated by ADAMS software to verify the feasibility of the mechanism.In addition,the robot foot speed changes are tracked to verify whether the speed meets the mobile robot speed requirements.In order to observe the single leg structure of the robot designed in this project,this paper uses the laser tracker of American automatic precision engineering company(API)to track the foot end trajectory of the quadruped robot in real time.At the same time,through the way of robot walking under the ground to verify whether the robot can achieve the stability of walking.