5连杆双足机器人建模和控制系统仿真

步行机器人作为一种载运工具适应地况能力强,结构复杂,运动控制难.实现类人型机器人动态行走,必须对机器人进行动力学建模、步态设计和稳定姿态控制算法设计.研究了一种5连杆双足机器人的动力学建模和控制系统仿真方法.建立两足步行机器人腿的可参数化仿真模型,对5平面双足机器人的运动情况和控制输入输出进行仿真,得出试验结果.并对影响步行机器人稳定性能的参数进行分析,为后面机器人样机的研制提供理论及数据依据.

Modeling and Control System Simulation for 5-1ink Biped Robot

Walking robot has complicate structure and strong ability to adapt ground conditions,and it is difficult to control. To realize dynamic walking of the humanoid robot,robot dynamic models were established,and the control algorithm for gait and the stability postures was designed. Dynamic model and control system of a 5-links biped robot were studied,parameterized simulation model of biped walking robot was built,gait planning and simulation experiments in the simulation surrounding were proceeded,and some experiment results were got. Comparing the experiment data with the theoretic stable region,the biped walking robot as leg mechanism has good stability of static walking,and theoretic and data information for further work were provided.