力矩补偿的蛇形机器人被动蜿蜒运动方向控制

The direction control of the snake robot′s passive creeping based on the torque compensation

在基于能量平衡的被动蜿蜒控制方法的基础上对力矩进行补偿,控制蛇形机器人的运动方向.该方法的核心思想是:方向控制是以基于能量平衡的被动蜿蜒控制为基础,因此遵守原控制算法的头部引导运动方向,身体跟随头部运动方向的运动特点;通过对头部力矩进行补偿实现运动方向的改变,身体力矩不变;头部补偿力矩利用指数函数的衰减性调节蛇形机器人的运动方向,最终实现蛇形机器人按期望方向运动.通过仿真研究和实验验证,证明这种运动方向控制方法的有效性.

The direction of the snake robot was controlled by the torque compensation which was added to the passive creeping control method based on the energy balance in this paper.The kernel of the method was composed of the following three aspects:according to the passive creeping method,the direction controller satisfies the principle that the head of the snake robot leads the locomotion direction and the body follows the direction of the head,a torque is added to the original torque of the head joint to adjust the locomotion direction,and the torque of the body joints keep unchanged,the torque compensation utilizes the decay performance of the exponential function to adjust the locomotion direction of the snake robot.After adjusting,the snake robot can reach the target point.The results of the simulation and the experiment show the validity of the proposed direction control method.