Research On Adaptive Control For Jumping Motion Of Hexapod Robots

Robot jumping movement is an efficient and important form of movement.It can not only move quickly,but also pass through some special terrain environment.In this paper,the jumping motion control of hexapod robot was studied,and a novel adaptive controller was developed,which was applied to the jumping motion of hexapod robot.The main research work of this paper is as follows:Firstly,under the background of the subject research,the jumping robot was classified and discussed,and then the research status and development trend of jumping robot at home and abroad were compared and analyzed.Finally,the research contents and methods of adaptive control of hexapod robot jumping motion were determined.Secondly,according to the physiological structure and movement mechanism of the jumping spider,the single leg and the whole structure model of the hexapod robot were established.Based on the analysis and comparison of the control schemes of the hopping motion system of the hexapod robot,the adaptive control was selected as the hopping motion control scheme of the hexapod robot,and the adaptive control was carried out for the hopping motion of the hexapod robot.Thirdly,the kinematics model of hexapod robot was established,and the forward and inverse kinematics analysis of hexapod robot was carried out.On this basis,the hopping motion of the hexapod robot was analyzed and studied,and the trajectory planning of the hopping motion of the hexapod robot was completed.Then the dynamics model of the hexapod robot was established,and the Lagrange dynamics formula was used to solve the theoretical moment of each joint of the robot,and the dynamics analysis of the hexapod robot was completed.On this basis,the jumping motion of hexapod robot was controlled.In order to improve the jumping performance of hexapod robot,a new adaptive control scheme for the jumping motion of hexapod robot was proposed.The stability and convergence of the adaptive controller were illustrated by the simulation experiment and theoretical verification.Finally,a MATLAB-Adams virtual prototype simulation platform was established to simulate the hopping motion of the hexapod robot.The virtual prototype of ADAMS hexapod robot was established,and then the simulation block diagram of the hopping motion of the hexapod robot was built by MATLAB-SIMULINK.After that,various jumping simulation experiments of hexapod robot were completed to verify the feasibility and effectiveness of adaptive control of jumping motion of hexapod robot.The adaptive control of the jumping motion of the hexapod robot in this paper can realize the stability of the robot in various jumping processes.The problem of insufficient dynamic stability in the hopping process of the hexapod robot was improved by the traditional control scheme,and the performance of the hopping motion of the hexapod robot was improved,which provided a reference for the hopping motion control of the hexapod robot.