摘要
为了得到更精确的仿人机器人动力学模型,提出一种在仿人机器人关节处采用双向动力学建模的方法。考虑关节处两个不同传输方向的功率传输效率,根据地面约束力和关节力矩定义,将仿人机器人简化为五连杆结构,采用Lagrange方程建立仿人机器人的双向动力学模型。对双向动力学模型进行计算机仿真,并在小型仿人机器人SHR-6S平台上进行对比实验。实验结果验证该双向动力学模型较传统方法建立的模型误差更小,更接近实测结果。
To obtain more accurate dynamic model of humanoid robot,this paper proposes a method of bidirectional dynamic modeling for the joints of humanoid robot.By considering of the efficiency of power transmission in two different directions,the humanoid robot was simplified as five-link mechanic structure according to the definition of ground constraint forces and joint torques.By employing the Lagrange equation,a bidirectional dynamic model of the humanoid robot was built.Compareed with the traditional modle,the results of the experiment based on SHR-6S platform and computer simulation demonstrate that this bidirectional dynamic model have a smaller error range.
出处
《广西大学学报（自然科学版）》
CAS
CSCD
北大核心
2011年第6期1009-1015,共7页
Journal of Guangxi University（Natural Science Edition）
基金
广西自然科学基金资助项目(桂科自0832075)
关键词
仿人机器人
双向动力学模型
地面约束力
humanoid robot
bidirectional dynamic model
ground constraint forces
