四足机器人腿部运动空间和足端运动轨迹研究

机器人的单腿的运动空间及足端点运动轨迹决定了所设计的机器人的应用范围。为了研究四足步行机器人摆动腿在一定参数条件下的运动空间大小及足端的运动轨迹，通过对机器人摆动腿正运动学方程，足端点轨迹在y、z轴上对时间的函数进行计算，并将计算结果运用MATLAB软件进行仿真，不仅直观地观测到机器人的运动情况，还得到所需的数据，且以图形的形式显示出来，达到了预期目的。

Study of Leg Motion Space and Foot Trajectory about Quadruped Robot

Abstract： The motion space and the foot trajectory of robotic single leg determines the field of application of the de- sign robot. In order to study on the motion space and the foot trajectory with certain parameters of quadruped walking robot swing legs, in this paper, by calculating the forward kinematics equation of robot swing leg, the foot extremity trajectory function of time in the Y,Z axis, we emulated the calculated results by using MATLAB software, not only have visually observed movement of the robot, but have gotten the required data. It displayed graphically, so we have achieved the ex- pected goal.