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Leg compliance control of a hexapod robot based on improved adaptive control in different environments
  • ISSN号：1006-754X
  • 期刊名称：《工程设计学报》
  • 时间：0
  • 分类：TP273.2[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]State Key Laboratory of Fluid Power Transmission and Control (Zhejiang University), Hangzhou 310027, China
  • 相关基金：Project（51221004） supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China; Project（2010R50036） supported by the Program for Zhejiang Leading Team of S＆T Innovation,China
作者： 朱雅光[1], 金波[1], 李伟[1]
关键词： 自适应控制算法, 六足机器人, 复杂环境, 基础, 模糊控制算法, 控制策略, 柔性控制, 机器人结构, hexapod robot tip-point force adaptive control fuzzy control adaptability
中文摘要：

Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.

英文摘要：

Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.

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期刊信息
  • 《工程设计学报》
  • 北大核心期刊（2011版）
  • 主管单位:教育部
  • 主办单位:浙江大学 中国机械工程学会
  • 主编：冯培恩
  • 地址：杭州市天目山路148号浙江大学出版社
  • 邮编：310007
  • 邮箱：zdgcsj@zju.edu.cn
  • 电话：0571-88272805
  • 国际标准刊号：ISSN：1006-754X
  • 国内统一刊号：ISSN：33-1288/TH
  • 邮发代号:32-60
  • 获奖情况:
  • 中国科学引文数据库（CSCD）核心期刊
  • 国内外数据库收录:
  • 波兰哥白尼索引,美国剑桥科学文摘,中国中国科技核心期刊,中国北大核心期刊（2004版）,中国北大核心期刊（2008版）,中国北大核心期刊（2011版）,中国北大核心期刊（2014版）
  • 被引量:4454