Design Of Control System For Wheel-legged Hexapod Robot

With the rapid development of science and technology and artificial intelligence,robot technology got rapid development on a global scale.Intelligent robot due to its unique application value in focus,countries around the world compete to an intelligent robot technology research,research scope has been extended from the traditional industrial robots to the new areas,such as medical services,education entertainment,anti-terrorism explosion-proof,planetary exploration,emergency rescue,deep sea exploration,etc.It obtained the rapid development.Because six foot robot has its freedom,terrain more adaptable,walking style diversification,high carrying capacity,etc,regarding as the key research object of being all-terrain robot.Six-legged robot having a large number of degrees of freedom can let robot is very flexible in the complex terrain of normal movement under unstructured environment.by super sport ability,response ability and awareness for environmental information,meanwhile,it make the appropriate decisions.The control system as the research object in this paper with a wheel legged six legged robot,based on gait planning strategies,all terrain complex environment of the body more degrees of freedom in coordinated control and use the joystick operation and steering wheel manipulation devices to achieve compliance control and other issues,a design with high safety,comfort and intelligence control efficiency of control system,enhance system stability and reduce the driver's burden,make the whole operation process more smoothly.Firstly,Firstly,research and analysis of the bionic walking six legged insect were extracted for six legged robot walking gait,the overall structural design of wheel legged six legged robot,and the robot leg structure construction of D-H coordinate system and build a single leg kinematics model of robot walking forward kinematics planning.Secondly,functional requirements research round foot type six legged robot in different conditions,through the analysis of function demand of hardware selection and structure design of the corresponding operations according to the functional requirements of wheel leg type six legged robot,determine the logical relationship of each function module,the design and development of various functional modules,determine the composition of manipulation the architecture of the system and control strategy.Finally,based on the theory of ergonomics in the human body measurement data and relevant foot wheel type six-legged robot cockpit,Vortex software is used to build the simulation model of the wheel foot six legged robot,which combines the motion coordination ability of the robot and the intelligent decision-making ability of the manipulator,the use of task coordination method,cooperative control method,collaborative sensing method to realize the man-machine coordination strategy,through the simulation experiment manipulation robot motion under various working conditions,verify the operating system's security,stability and practicability.