四足管道爬壁机器人周向运动位姿规划

Pose Planning of Quadruped Pipe Wall-climbing Robot During Circumferential Motion

为了实现四足机器人沿着管道内壁进行连续的周向运动,对运动过程中的位置和姿态进行规划。建立管道坐标系和机器人的位置、姿态方程,规划了一种包含足姿调整、机身旋转和机身平移的周向运动。为保证周向运动的连续性,对运动过程中位姿的角度、方向、位移进行规划,并通过足端运动实现周向运动位姿的规划。利用Matlab计算得到的周向运动关节角度曲线,对机器人样机进行爬壁实验。实验结果和滚转角分析验证了周向运动位姿规划的正确性。

In order to realize the continuous circumferential motion of the quadruped robot along the inner wall of the pipe,the plan of position and posture during the motion is carried out.Firstly,the pipeline coordinate system and the robot position and posture equations are established,and a circumferential motion including foot posture adjustment,body rotation and body translation is planned.In order to ensure the continuity of the cir⁃cumferential motion,the angle,direction and displacement of the posture during the motion are planned,and the circumferential motion posture planning is realized through foot motion.Use the joint angle curve of the circum⁃ferential motion calculated by Matlab to perform wall-climbing experiments with the robot prototype.Finally,the experimental results and the roll angle analysis verify the correctness of the circumferential motion pose planning.