弹吉他机器人步行动力学建模与分析
首发时间:2012-09-05
摘要:弹吉他机器人是仿人机器人的一种,基于ZMP(Zero-Moment Point)的步态规划是解决仿人机器人行走的关键技术之一,而机器人的动力学建模是其类人行走控制算法的基础。本文采用D-H法建立了机器人运动学模型,经过简化并采用拉格朗日方法(Lagrange formulation)对机器人系统进行了动力学建模,并在Adams中对该机器人系统进行了动力学仿真。最后将各关节角度、角速度及角加速度的仿真结果带入动力学模型中求解出左踝关节的驱动力矩,经过与机器人左踝关节的驱动力矩仿真结果相对比验证了动力学模型的准确性。
关键词: 弹吉他机器人 行走 D-H法 拉格朗日方法 动力学建模 Adams仿真
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Dynamic Modeling and Analyzing of a Walking Guitar Robot
Abstract:In this paper,a kind of humanoid robot,Guitar Robot, is introduced. Gait planning based on ZMP is one of key technologies to humanoid walking, and the base of control algorithm is the dynamic model. The kinematic model of the robot based on D-H method is presented in this thesis, and then builds the dynamic model based on Lagrange formulation by simplifying the kinematic model of robot body. A kinematic simulation to the robotic system is made based on Adams. Joint driving torque of left ankle is determined according to joint angle, angular velocity and angular acceleration. The calculating value testified the precision of the dynamic model by comparing with the result of simulation.
Keywords: Guitar Robot Walking D-H Method Lagrange Theory Dynamic Modeling Adams Simulation
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