摘要
本文以仿人机器人踢足球为例,以现实机器人为原型,利用Solidworks建立了仿人机器人的三维机械结构模型,利用ADAMS和Simulink联合仿真的方法,仿真得到了机器人踢足球的整个过程,利用ZMP理论实时求得机器人的重心轨迹,计算与理想轨迹的偏差,通过改变机器人姿态以减小偏差,实现了对机器人的闭环控制,提高了机器人在受外力作用下的稳定性,并进行了实物实验,验证了该方法的有效性。
The article takes a humanoid robot＇s action of kickball as an example, takes a real robot as antetype, protracts three-dimensional model in using solidworks, uses ADAMS and Simulink co-simulation,gets the whole process of simulationa and the barycenter on ZMP theory, calculates the windage with ideal barycenter, minishes the windage through adjusting gestures of robot,the closed loop control comes true . The barycenter＇ stability under the reaction force of soccer is improved,earrys out practicality experiment either,damenstrates the validity of the method.
出处
《微计算机信息》
2010年第5期7-8,112,共3页
Control & Automation
