复合扰动下双足机器人位姿修正解耦控制研究

双足机器人在驱动步行中受到活动部件的复合扰动作用容易产生耦合误差,导致解耦控制的稳定性不好,为了提高双足机器人驱动步行中的解耦控制的稳定性,提出一种基于变步长动态平衡反馈调节的双足机器人驱动步行位姿修正解耦控制方法。采用分布式传感器阻力力学采集方法进行双足机器人的姿态参量测量和动态融合处理,构建双足机器人驱动步行位姿修正解耦控制的约束参量模型和控制目标函数,采用Kalman滤波方法进行双足机器人驱动步行的地面环境适应校正和误差修正,采用变步长动态平衡反馈调节方法确定精准的驱动步行姿态参量,实现双足机器人准确的姿态定位和参量解算。仿真结果表明,采用该方法进行双足机器人驱动步行姿态定位控制的准确度较高,环境适应性较好,实现零误差驱动步行,提高了双足机器人的控制品质。

Research on position and attitude correction decoupling control of biped robot under complex disturbance

In order to improve the stability of decoupling control of biped robot in driving walking,it is easy to produce coupling error due to the complex disturbance of moving parts,which leads to poor stability of decoupling control.A modified decoupling control method for biped robot driving walking posture is proposed based on variable step size dynamic balance feedback regulation.The attitude parameter measurement and dynamic fusion of biped robot are carried out by using distributed sensor drag mechanics acquisition method.The constraint parameter model and control objective function of biped robot driving walking position and posture correction decoupling control are constructed.The Kalman filtering method is used to correct the ground environment adaptation and error correction of biped robot driving walking,and the variable step size dynamic balance feedback adjustment method is used to determine the precise driving walking attitude parameters.The accurate attitude location and parameter calculation of biped robot are realized.The simulation results show that the accuracy of biped robot driving walking attitude positioning control is high and the environment adaptability is good.The control quality of biped robot is improved by realizing zero-error driven walking.