摘要
为实现四足机器人在平面上的稳定平顺的转向与斜向运动,提出了一种基于参数化坐标变换矩阵的规划方法.通过D-H法建立了四足机器人的运动学模型,分别求得机器人机体坐标系在两种运动中的参数化坐标变换矩阵,并通过参数的调整来完成机器人运动的规划.最后对四足机器人在平面上的转向与斜向运动进行了仿真,仿真结果表明,该方法能够实现四足机器人在平面上的连续、平稳的转向与斜向运动.
In order to realize the steering and oblique movements of a quadruped robot,a movement planning method based on parametric coordinate transformation matrix was proposed.After establishing kinematic model of the robot with the D-H method,the parametric coordinate transformation matrices of the body coordinate were derived to generate the locomotion plan by adjusting parameters and to achieve the two movements mentioned above.Finally,the steering and oblique movements of the robot were simulated in the flat,and the result verified the effectiveness of proposed method.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2015年第5期477-480,505,共5页
Transactions of Beijing Institute of Technology
基金
国家部委预研基金资助项目(104060103)
关键词
四足机器人
转向与斜向运动
运动规划
参数化矩阵
quadruped robot
steering and oblique movement
locomotion plan
parametric matrix
