摘要
针对跳跃机器人腿部运动控制的稳定性较低的问题,基于模糊PID设计了机器人腿部运动控制系统。以蚱蜢的腿部机构为生物原型,设计了仿蚱蜢机器人腿部弹跳机构模型,分析其运动学和动力学特性,开展ADAMS和MATLAB联合仿真,采用模糊PID对联合仿真系统进行控制,确定了仿蚱蜢机器人控制系统的设计可靠性。结果显示,基于模糊PID的控制方法在仿蚱蜢机器人的跳跃运动中有较好的控制效果,既提高了稳定性,也符合蚱蜢的跳跃机理,同时控制系统的操作也简便。
Aiming at the problem of low stability of leg motion control of jumping robot,a robot leg motion control system based on fuzzy PID was designed.Taking the grasshopper leg mechanism as the biological prototype,the grasshopper-like robot leg bounce mechanism model was designed,and its kinematics and dynamics characteristics were analyzed.The joint simulation of ADAMS and MATLAB was carried out.The fuzzy PID was used to control the joint simulation system,and the design reliability of the grasshopper-like robot control system was verified.The results show that the control method based on fuzzy PID has good control effect in the jumping motion of grasshopper-like robot,which not only improves the stability,but also conforms to the jumping mechanism of grasshopper,and the operation of the control system is also simple.
作者
熊勇刚
陈鹏涛
王延炜
张锐
Xiong Yonggang;Chen Pengtao;Wang Yanwei;Zhang Rui(College of Mechanical Engineering,Hunan University of Technology,Zhuzhou,Hunan 412007,China;Beijing Iron Man Technology Co.,Ltd.,Beijing 100089,China)
出处
《机电工程技术》
2023年第3期194-198,共5页
Mechanical & Electrical Engineering Technology
基金
教育部创新基金(编号:2021JQR026)。
