仿人机器人腰部机构的动力学建模、控制与仿真

本文介绍的仿人机器人具有差动腰部机构,它除了受自身的动力学影响以外,还受到手臂和车体运动以及外力、外力矩等对腰部机构关节力矩的影响。笔者利用高效牛顿-欧拉算法完成了仿人机器人的整体建模;在不考虑各关节间耦合运动的情况下,对整体动力学模型进行适当简化,得到了腰部机构的动力学模型。简化后的动力学模型既反映了机器人车体、腰部及双臂的动力学关系,又大大地减小了计算量,易于实现基于动力学的控制算法。基于动力学模型,给出了腰部机构PD伺服轨迹跟踪控制算法,并结合计算力矩方法用于补偿腰部机构两关节受到的力矩扰动。仿真分析表明,该控制方法可以明显提高腰部机构的位置跟踪精度,并提高仿人机器人的整体作业精度。

For the humanoid robot with a waist configuration driven by two parallel motors,the dynamic characteristic of the waist mechanism is affected by the dynamic characteristic of arms and vehicle and the external forces of torques,as well as by the motion of its own.The whole dynamic model of the humanoid robot was built using the effective Newton-Euler Algorithm and the dynamic model of the waist mechanism was built through simplifying the whole dynamic model without consideration of coupling motion of the joints.The simplified dynamic model expresses the dynamic relation among the vehicle,waist and arms of the humanoid robot,minimizes the calculation and is convenient for realizing the control algorithm based on the dynamic model.The PD control and the calculated torques method for compensating the torque disturb were presented as the control strategy of the waist mechanism based on its dynamic model.The simulation shows the control algorithm improves the position tracing precision of the waist mechanism and improves the work precision of the humanoid robot.

国家863高技术研究发展计划资助项目(2001AA422170)