Research On Quadruped Robot Control System Based On LabVIEW

Quadruped robots show extraordinary adaptability in unstructured environments,which makes it become a hot research direction in the field of legged robots.The current research on quadruped robots mainly focuses on algorithms and hardware.As the core of a quadruped robot,the control system will directly determine the ability of the robot to perform tasks and data processing.By studying the classification and development of the control system of the quadruped robot,the control system framework and control methods of various quadruped robots domestic and international are analyzed,the research purpose of the control system of quadruped robot is determined,and according to the research purpose,the content and direction of this research are determined.Based on the D-H method,the single leg kinematics model of the quadruped robot was established,and its forward and inverse kinematics was deduced.According to the control requirements,the PD control strategy is adopted for the single leg of the quadruped robot,and the control scheme of the whole robot is proposed.According to the control requirements,the hardware architecture of the robot is built and the hardware is selected.According to the communication protocol of the sensor,the program is programmed,and the communication result of the sensor is verified by the data acquisition test of the controller.According to the communication and control requirements of the upper and lower computers of the robot,the CAN communication mode is designed and the circuit that needs to be expanded is designed.Based on the hardware of the robot,the system software architecture of the quadruped robot was designed hierarchically,and optimized by dual-core parallel task processing and modular processing.The forward kinematics module,PD controller module,torque output module,current limit module,and decimal to hexadecimal module are designed respectively,and the single-leg control program is integrated.The control program of the whole machine is designed,including position initialization module,gait trajectory planning module,CAN communication module,touchdown detection module,and man-machine interaction module.Finally,the whole experiment platform of the quadruped robot was built,and the CAN communication performance experiment,the joint performance experiment of the single leg,the trajectory following experiment of the whole robot,the foot force,and current experiment,and the whole machine standing experiment were carried out on the platform.The experimental results verify the feasibility of the system,the data interaction,and the real-time control ability of the control system.