The invention aims to provide a control method of a parallel type four-wheel-foot robot, provides a corresponding control method based on a twelve-degree-of-freedom four-wheel-foot robot of a symmetrical parallel mechanism, and provides a wheel dynamics compensation method based on the virtual work principle in the swing phase of the robot in combination with decomposed virtual model control. And the model control precision is improved. Meanwhile, in order to realize attitude decoupling, the invention also provides a corresponding attitude control strategy and a slope adaptive strategy. In combination with double advantages of wheels and legs, a rolling control method and a posture control strategy in a wheel-leg mode are provided, so that a plurality of wave-shaped obstacles with the height of 0.15 m and the gradient of 41.41 degrees can pass through a single side at the speed of 3.2 m/s in simulation.
本发明的目的在于提供一种并联式四轮足机器人的控制方法,基于对称并联机构的十二自由度四轮足机器人提出了对应的控制方法,在机器人摆动相,结合分解式虚拟模型控制提出一种基于虚功原理的轮子动力学补偿方法,以提高模型控制精度。同时,为实现姿态解耦,本发明还提出了对应姿态控制策略以及斜坡自适应策略。结合轮子和腿的双重优势,提出了在轮腿模式下滚动控制方法和姿态控制策略,以实现在仿真中能够以3.2m/s的速度单边通过高0.15m,坡度41.41°的多个波浪形障碍物。
Control method of parallel type four-wheel-foot robot
并联式四轮足机器人的控制方法
2023-06-23
Patent
Electronic Resource
Chinese
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