摘要：

研究足式机器人行走过程的稳定性优化控制策略,设计一种基于机器人上身平台振动加速度为反馈的小腿减振控制系统。通过虚拟仿真分析软件——机械系统动力学自动分析构建足式机器人小腿虚拟样机,并导入到Matlab中进行主动减振的自抗扰控制算法设计,根据主动和被动减振分别抑制低频和高频振动。仿真结果表明,主被动联合减振大幅衰减了机器人上身平台的振动,弥补被动减振对低频振动无法抑制的情况,有效提高了机器人行走的稳定性。

关键词: 足式机器人, 虚拟样机, 主被动减振, 自抗扰控制算法, 机械系统动力学自动分析模型

Abstract:

The stability control strategy of biped robot walking process is studied,and a crus vibration control system based on the vibration acceleration of the upper body of the robot as feedback is designed.Through virtual simulation analysis software——Automatic Dynamic Analysis of Mechanical System(ADAMS),the virtual prototype of the biped robot is built and imported into Matlab.The automatic anti-disturbance control algorithm is designed to suppress the low frequency and high frequency according to active and passive vibration attenuation.Simulation results show that active and passive vibration attenuation greatly reduces the vibration of the upper body of the robot and compensates the situation that passive vibration can not suppress the low frequency vibration,and effectively improves the stability of the robot.

Key words: biped robots, virtual prototype, active and passive vibration attenuation, Active Disturbance Rejection Control(ADRC) algorithm, Automatic Dynamic Analysis of Mechanical System(ADAMS) model

中图分类号: 

• TP 273