基于树型数据结构的双足机器人步行三维仿真

Tri-Dimensional Simulation of Biped Robot Walking Based on Tree-like Data Structure

运动学是机器人仿真的基础,三维仿真是机器人动作控制的重要依据。由于双足机器人的非线性,强耦合性,其运动学仿真研究大都为二维曲线仿真。为解决此难题,本文采用了一种不同于DH坐标系的树型数据结构得到了机器人的结构数据库。结合此数据库及正运动学原理及矩阵变换算法,得到机器人的变换矩阵。再用递归调用各变换矩阵的方法编程实现Matlab三维绘图,即可实现机器人正运动学三维仿真,并在Matlab三维视图平台上作了机器人行走动作的仿真。

Kinematics is the base of robot simulation, 3D simulation is the important rationale of robot motion control. Since biped robot has the characteristics of highly nonlinear and strong coupling, its simulation studies mainly are 2D curves. In order to solve these problems, we present a tree-like data structure that different from the DH coordinate system to model the structure database of robot. Combining this database and forward kinematics principle and matrix transform algorithm, get the transform matrix of robot. Using recurrence the transform matrix method to draw 3D graph on Matlab, then we achieve the 3D simulation of forward kinematics, and through the 3D view platform we get the the walking motion of robot.