中文摘要：

对仿生六足机器人单腿进行了运动学分析,计算了足端位置与关节角位置之间的关系.关节由直流伺服电机驱动,采用电流环和位置环双层控制结构,电流环采用PI控制,位置环采用PID控制,在Simulink仿真中调整控制参数,使位置环的阶跃响应迅速并且超调振荡较小.采用三次多项式实现轨迹规划,使位置、速度和加速度都连续,保证了运动的平稳性.

英文摘要：

In this paper, the kinematics of the leg of hexapod robot was analyzed and the relationship between foot end position and joint angles were calculated. Joint was driven by a DC servo motor which was controlled by current loop and position control loop. Current was controlled by PI and position was controlled by PID. The control parameters were adjusted in Simulink simulation until the position loop has rapidly step response, little overshoot and small oscillation. In order to ensure smooth movement, trajectory planning was achieved through cubic polynomial so that position, velocity and acceleration are continuous.