轮式移动仿人机器人的动力学建模与分析

利用高效迭代牛顿-欧拉方法对一个21自由度的轮式移动仿人机器人进行了整体动力学建模,该模型虽然维数较高,但消除了分块建模中需要对模块之间相互作用力进行建模的难点问题,并且由于机器人双臂的对称结构,当合理规划双臂运动时,动力学模型将得到部分简化。本文还对某关节运动时在各个关节所产生的力或力矩进行了仿真分析。解析及仿真结果表明,合理规划上臂各关节的协调运动,将极大地削弱车体及腰部各关节所受的力或力矩扰动,为基于动力学的机器人运动控制以及稳定性分析提供理论依据。

Dynamic Modeling and Analysis of a Wheel-based Humanoid Robot

We first build the whole-body dynamic model of a 21-dof,wheel-based humanoid robot using the method of Recursive Newton-Euler Algorithm(RNEA).Although this model has a high dimension,it does not need to model the interactive force between different body parts.Because of the symmetrical structure of the dual arms of the humanoid robot,the dynamic model can be partly simplified if the motion of the two arms is properly planned.We also simulate and analyse the force or torque acting on each joint while one joint is moving.The analytical results and simulation show that the force or torque disturbance acting on the joints of waist and vehicle is greatly reduced while the coordinative motion of each joint of the arms is properly planned.The results can be used for motion control and stability analysis of the robot.