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浙江大学学报(工学版)
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
    
Optimize control strategy for servo-driven leg robots
DENG Xue-lei, YANG Can-jun, BI Qian, FAN Jin-chang, SHANG Wei-yan
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
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Abstract  

A control strategy was proposed to reduce the control error for the multi-legged robots with large load driven by servos, because of the decreased accuracy of robot motion control due to the load and its own weight. The solution of forward kinematics and inverse kinematics was finished based on the kinematics modeling of a four degrees-of-freedom leg. The accuracy was verified using simulation. The desired angles of each joint were got. A nonlinear phenomenon including saturation and backlash occured. Mathematical expressions were founded to describe this phenomenon. The key parameters were identified by linear regression. The control strategy was improved by adding a feedforward compensation in order to reduce the error. Two different tracks including vertical linear motion and parabola motion were used to verify the strategy. The relative error was about 1% or less.

Published: 01 April 2015
CLC:  TP 242  
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DENG Xue-lei, YANG Can-jun, BI Qian, FAN Jin-chang, SHANG Wei-yan. Optimize control strategy for servo-driven leg robots. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2015, 49(4): 638-643.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2015.04.005     OR     http://www.zjujournals.com/eng/Y2015/V49/I4/638


舵机驱动的足式机器人腿部运动性能优化策略

针对利用舵机控制多足大负载机器人中,因负载及自身重量导致的机器人运动控制精度下降的问题,提出通过对非线性进行前馈补偿的方式,减小误差的控制策略.对四自由度腿部结构进行运动学建模,完成运动学正逆解,通过仿真验证结果的正确性,得到各关节的理想输入角度；在试验时检测舵机控制过程中的饱和及摩擦非线性现象,分析产生原因,利用数学表达式对该现象曲线进行描述,线性回归辨识出表达式中的关键参数；在考虑非线性环节的基础上改进现有的控制策略,加入前馈补偿,以减小控制误差；通过对竖直直线运动和抛物线2种轨迹的试验可知,角度相对误差稳定在1%左右.

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