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Motion control system and method for an electrically driven hexapod robot

A technology of robot movement and hexapod robot, which is applied in the field of electric drive hexapod robot motion control system, can solve the problems of low autonomous flexibility, poor overall adaptability, and various degrees of freedom.

Active Publication Date: 2016-06-29
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the ubiquitous shortcomings of robots such as low autonomous flexibility, poor overall adaptability, low motion control response speed, strong dependence on the working environment, and many degrees of freedom, which increase the complexity of the control system. A motion control system and method for an electrically driven hexapod robot

Method used

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  • Motion control system and method for an electrically driven hexapod robot
  • Motion control system and method for an electrically driven hexapod robot
  • Motion control system and method for an electrically driven hexapod robot

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specific Embodiment approach 1

[0057] Embodiment 1: An electric-driven hexapod robot motion control system in this embodiment includes: a leg module and a wheel module;

[0058] The footed module includes: a hexapod robot modeling module, a coordinate system calculation module, a gait movement module, a rotation movement module, a pose movement module and a single-leg movement module.

[0059] The effect of this implementation mode:

[0060] Through the research on the motion control system of the hexapod robot, a motion control system of the hexapod robot with good flexibility, strong adaptability, low foot-ground contact impact, and multi-degree-of-freedom coordinated motion is designed. The system first analyzes a series of instructions from the control system, and combines environmental perception feedback and comprehensive analysis to generate body pose, main motion parameters and gait parameters. According to the instruction information of the control system, the motion planning will plan a reasonabl...

specific Embodiment approach 2

[0063] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the hexapod robot modeling module is used to visually see the robot configuration, calculate the joint angles of each leg of the robot and the kinematics of the robot legs solution; the schematic diagram of the robot mechanism is shown in figure 2 Shown; Among them, the leg of the hexapod robot is composed of three parts: heel joint, hip joint and knee joint;

[0064] The foot module is used to include two-gait walking, three-gait walking, six-gait walking, ditch-crossing walking, slope-climbing walking, obstacle-crossing walking, in-situ rotation, posture adjustment, single-leg control, Hexapod stand and hexapod retract function;

[0065] The coordinate system calculation module is used to represent a group of kinematic systems of the kinematic relationship, each joint to be controlled is defined on the axis of the coordinate system, and the motion is executed in the motion program, wherein...

specific Embodiment approach 3

[0071] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is: the flow process of the main program of the described foot module is as follows Figure 11 Shown:

[0072] (1) The system initializes the parameters of the PLC display program and initialization program;

[0073] (2) Choose to start the in-situ steering program, hexapod standing and stowing program, climbing, obstacle-crossing, ditch-crossing program and its automatic and manual programs, and the motion control program executes the program of the lower computer according to the user requirements of the control system; among them , The motion control program includes the in-situ steering program, the six-legged stand-up program, the climbing, the obstacle-crossing, the ditch-crossing programs and its automatic and manual programs. Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention provides a motion control system and method for electrically-driven a hexapod robot, relates to the field of motion control of hexapod robots, and aims to overcome the defects that a robot is usually low in independent flexibility, low in integral adaptability, low in motion control response speed, strong in dependence on the work environment and the like, and to solve the problem that complexity of the control system is increased because of various degrees of freedom. The control system comprises a foot-type module and a wheel-type module, and the control system is carried out according to the following steps particularly: 1, building a hexapod robot modeling module; 2, building a coordinate system calculating module; 3, controlling a servo motor through a motion controller for accurate position movement, and determining variation of the mass center of a robot platform through a posture motion module by applying a robot coordinate transforming matrix; 4, realizing moving forwards, retreat, left turn, right turn and the like of a wheel-type system. The control system and the control method are applied to the field of motion control of the hexapod robot.

Description

technical field [0001] The invention relates to a motion control system and method for an electrically driven hexapod robot. Background technique [0002] The motion control system of the electric-driven hexapod robot is the core unit of the legged system, which undertakes the important task of converting the instructions from the operator into the specific movement of the drive unit. With the goal of ensuring the stability, flexibility and ease of operation of the platform, the design of the motion control system focuses on the correspondence and complementarity between the system's walking function and operating performance. [0003] At present, footed robots in China started late, and robots generally have shortcomings such as low autonomy, poor overall adaptability, low motion control response speed, and strong dependence on the working environment. The hexapod robot belongs to the series-parallel hybrid structure in structure, and belongs to the multi-input and multi-o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02B25J9/18G05B19/418
Inventor 丁亮于海涛刘宇飞刘逸群邓宗全高海波李楠刘振
Owner HARBIN INST OF TECH
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