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减振抗冲是足式机器人控制研究的重要难题,使用主被动联合减振抗冲的方法可以对足式机器人的振动冲击进行很好的抑制。文章首次将主被动联合抗冲减振控制方法应用到足式机器人的减振控制中,通过建模分析,设计了被动减振单元的刚度和阻尼比,实现了对冲击振动中的高频信号的衰减,然后根据被动减振结果设计合理的主动控制方案,进一步减小了冲击振动中的低频振动。最后使用Sim Mechanics建模分析,验证主被动减振参数设置的有效性。
Vibration reduction is an important problem in the research of foot robot control. The vibration impact of foot robot can be well restrained by using the method of active and passive joint vibration damping. The paper applies the active-passive joint anti-shock and anti-vibration control method to the vibration control of a footed robot for the first time. Through the modeling analysis, the stiffness and damping ratio of the passive vibration-damping unit are designed and the high frequency signal Then, a reasonable active control scheme is designed according to passive damping results to further reduce the low frequency vibration in shock vibration. Finally, the use of Sim Mechanics modeling analysis to verify the effectiveness of the main passive damping parameters set.