基于旋量理论的四足机器人运动学分析

The Kinematic Analysis of Four-legged Robot Base on Screw Theory

在调研分析当前足式机器人的研究进展的基础上,提出一种基于旋量理论的四足机器人运动学建模方法。运用旋量理论建立其运动学模型,建立各个关节的速度螺旋后根据罗德里格斯公式推导出该四足机器人的正运动学显式解析解,运用空间几何方法推导出该四足机器人的逆运动学显式解析解。最后运用专业多体动力学仿真软件Adams对所设计的四足机器人进行运动学仿真分析,验证了运动学理论推导的正确性及改四足机器人设计的合理性。提出四足机器人运动学算法的显式解析解,特别适用于对四足机器人控制有实时性要求的应用场景,为足式机器人的实时控制打下坚实的算法基础。该四足机器人运动学算法对后续的四足机器人甚至足式机器人的动力学、轨迹规划、步态规划研究都具有重要的参考意义。

Through the investigation and analysis of the current research progress of four-legged robot, a kinematic modeling and method of four-legged robot base on screw theory was proposed. According to the screw theory, the kinematic model of four-legged robot was first established. The forward kinematics explicit solution was derived by rodriguez formula after establishing the twist of each four-legged robot joint. Simultaneously the inverse kinematics explicit solution was derived by Geometric method of space. Finally making the kinematic simulation analysis of this four-legged robot by using the professional multi-body dynamics simulation software of Adams, the work was the verification of the kinematics screw’s derivation validity and the design reasonability of the four-legged robot. The explicit solution of the four-legged robot kinematics algorithm that presented by the paper, especially appropriate to the application scenarios that require a real-time of the four-legged robot, and the kinematics algorithm has lay a solid foundation for legged-robot’s real-time control. The kinematics algorithm has a significant reference value for the subsequent research of dynamics, trajectory planning, gait planning of four-legged robot even legged-robot.