The invention discloses an intelligent jumping method for controlling a momentum-driven robot, and belongs to the field of deep space exploration robot control. A take-off process is designed by utilizing a momentum wheel brake mechanism of the robot and is divided into four stages of trial jump, flying, accelerated take-off and flying, so that the momentum-driven robot completes jump, the take-off process of the momentum-driven robot is clear and convenient to control by combining the characteristics of the four stages, and the precision of a landing point is improved; a jumping behavior kinetic model of the momentum-driven robot in a weak gravitational field environment is established; the relation between the environmental parameters and the motion parameters at the end of the trial jump stage is found by utilizing a machine learning algorithm, and the relation between the jump moment parameters and the jump track parameters is established by utilizing the machine learning algorithmunder the condition that the environmental parameters are known, so that the momentum-driven robot has the capabilities of sensing the external environmental parameters and adapting to a complex environment; jump parameters are designed based on the environmental parameters to plan the momentum wheel rotating speed, so that the jump distance and the hovering height are controllable.
本发明公开的一种用于控制动量驱动机器人的智能跳跃方法,属于深空探测机器人控制领域。本发明利用机器人的动量轮刹车机构设计起跳过程,分为试跳、腾空、加速起跳和飞行四个阶段使动量驱动机器人完成跳跃,结合上述四个阶段的特征使动量驱动机器人的起跳过程清晰便于控制,提高落地点的精度;建立该动量驱动机器人在弱引力场环境下跳跃行为动力学模型;利用机器学习算法,找到环境参数与试跳阶段结束时运动参数之间的关系,在环境参数已知的情况下利用机器学习算法建立跳跃力矩参数和跳跃轨迹参数之间的关系,使动量驱动机器人具有感知外部环境参数并适应复杂环境的能力,基于环境参数设计跳跃参数规划动量轮转速使跳跃距离、腾空高度可控。
Intelligent jumping method for controlling momentum-driven robot
一种用于控制动量驱动机器人的智能跳跃方法
2021-01-12
Patent
Elektronische Ressource
Chinesisch