Research On Motion Control System Of Legged Compound Mobile Robot

In view of the problem that tracked mobile robot is easy to cause sideslip or block in the complex environment such as slope,ladder,gully and gravel,a kind of legged composite mobile robot is designed,and the motion control system of the legged composite mobile robot is studied.By controlling the alternate use of track and leg,not only the obstacle surmounting ability of mobile robot in complex terrain is improved,but also the problem of sideslip or jamming of mobile robot is solved,and the working occasions of mobile robot are expanded.The main work of this paper includes the following aspects:1.The kinematics analysis of the legged compound mobile robot is carried out.Through the analysis of the structure of the legged compound mobile robot,the kinematics of the legged compound mobile robot is analyzed from the perspective of the tracked movement and the legged movement,the mathematical model of the legged movement is established,and the relationship between the linear movement,the steering movement and the speed of the legged compound Mobile robot is analyzed;the spatial coordinates of the legged compound mobile robot are established by using the D-H method The forward and inverse solutions of the single leg of the legged compound mobile robot are derived by using the method of geometric analysis.2.In this paper,the motion control system of legged compound mobile robot is studied.The dynamic models of the walking and leg movement of the walking and leg compound mobile robot are established.The steering and climbing torque of the walking and leg compound mobile robot are calculated and analyzed,and the speed and steering control models of the walking and leg movement are established.Through the analysis of the characteristics of the walking and diagonal gait of the walking and leg compound mobile robot,the walking and diagonal gait of the walking and leg compound mobile robot are completed At the same time,the anti attitude disturbance,velocity disturbance and gait timing control strategy based on touchdown signal are designed.3.The motion control system of the legged compound mobile robot is designed.The main controller selection,DC motor drive module and actuator drive module,obstacle avoidance module,attitude detection module,remote control module and power supply module are completed;the ranging method based on single and multiple ultrasonic sensors is studied.4.The experimental verification is carried out on the prototype of the legged compound mobile robot.The gyroscope sensor is used to obtain the data of the linear motion,steering and leg motion of the legged composite mobile robot,and the experimental verification of the prototype of the legged composite mobile robot is carried out.