Accurate Position and Posture Control of a Redundant Hexapod Robot
作者: Gang ChenBo JinYing Chen
作者单位: 1Zhejiang University
刊名: Arabian Journal for Science and Engineering, 2017, Vol.42 (5), pp.2031-2042
来源数据库: Springer Journal
DOI: 10.1007/s13369-017-2421-6
关键词: Position and postureAccurate controlHexapod robotRedundant actuation
英文摘要: The position and posture of multilegged robots are often readjusted to achieve optimum stability and movement space in rough terrains. The accurate position and posture control method are adopted to improve its control accuracy. The D–H model and direct kinematics on the robot’s velocity is analyzed, upon which an inverse redundant kinematics model on the hexapod robot’s velocity is presented. The relationship between rotation and posture angular velocities is investigated, and an inverse redundant position and posture kinematics model on the hexapod robot’s velocity is proposed. The accurate position and posture control model of the redundant hexapod robot are constructed and implemented using the inverse redundant position and posture kinematics on velocity. Simulations and experiments...
原始语种摘要: The position and posture of multilegged robots are often readjusted to achieve optimum stability and movement space in rough terrains. The accurate position and posture control method are adopted to improve its control accuracy. The D–H model and direct kinematics on the robot’s velocity is analyzed, upon which an inverse redundant kinematics model on the hexapod robot’s velocity is presented. The relationship between rotation and posture angular velocities is investigated, and an inverse redundant position and posture kinematics model on the hexapod robot’s velocity is proposed. The accurate position and posture control model of the redundant hexapod robot are constructed and implemented using the inverse redundant position and posture kinematics on velocity. Simulations and experiments...
全文获取路径: Springer  (合作)
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关键词翻译
关键词翻译
  • posture 姿势
  • robot 机扑
  • hexapod 六脚
  • redundant 余的
  • kinematics 运动学
  • Robot 罗伯特牌照相机
  • accurate 精确的
  • walking 步行
  • actuation 动作
  • position 位置