六足机器人协同运动建模与控制方法研究

Study on PID Control Method for Cooperative Motion of Hexapod Robot

为了提高六足机器人平稳协调运动,建立了六足机器人协同运动模型,结合PID控制器研究了六足协同控制运动系统转角曲线的稳定性。首先确定六足机器人驱动电机的模型,通过PID控制直流电机转速。通过PID控制参数的整定调节,使得整个电机的控制系统快速稳定。然后在MATLAB软件SimMechnices模块进行单足和六足运动模型的建模,仿真分析了六足运动过程中在各个轴方向上的转角曲线,有效提高了六足运动系统的稳定性。

In order to improve the stable and coordinated motion of the hexapod robot,the cooperative motion of hexapod robot is established,a new PID controller is designed,and the stability of the corner curve of the hexapod coordinated control motion system is analyzed.Firstly,the model of driving motor of hexapod robot is determined,and the speed of DC motor is controlled by PID algorithm.By setting and adjusting the parameters of PID controller,the control system of whole motor is fast and stable.Then the single-legged and hexapod robot motion are modeled in SimMechnices module of MATLAB software.The PID setting parameters are substituted into the motion model.The rotation curves of hexapod in different axes were simulated and analyzed.It was proved that the designed PID controller can effectively improve the stability of the hexapod motion system.