蛇形机器人蜿蜒运动控制分析

Simulation of Snake-like Robot's Winding Movement

针对蛇形机器人的蜿蜒运动控制,首先分析了关节角度约束对运动控制函数参数取值的限制,确定了满足机械结构的运动控制参数范围;之后在Adams仿真环境下,建立蛇形机器人的三维虚拟运动模型,进行蜿蜒运动仿真,通过分析幅值控制参数对蛇形机器人弯曲度、运动速度和运动轨迹偏移的影响,提出了调整幅值参数的方法;实验结果表明,调整方法的有效性,从而实现蛇形机器人蜿蜒运动控制的优化。

For the motion control of serpentine locomotion of the snake-like robot, based on the analysis of the constraint on parameter values limit of control function of the joint angle of the mechanical structure, firstly to confirm the control parameter which satisfy the re quirement of the mechanical structure. Then build the 3D virtual motion model of the snake robot in Adams environment to simulate the serpentine motion. The parameter adjustment method is proposed through analysis of the impact on the bending, velocity and trajectory offset in this paper. Experiment results show that the effectiveness of this method, thus can implement the optimal control for the serpentine locomotion of the snake-like robot.