楼梯清洁机器人的爬楼规划研究

The Stair Climbing Planning of Stair Cleaning Robot

为使圆周平动脚式楼梯清洁机器人能完成稳定的下楼动作,该文研究了其爬楼步态规划方法.首先基于几何法建立机器人爬楼的运动学模型;然后将爬楼梯的过程分为2个阶段,并针对这2个阶段的运动机理分别采用不同的规划方法;再基于运动学模型计算出各关节的角度,并搭建PID控制系统对机器人进行控制;最后联合Adams和Matlab进行仿真验证.研究结果表明:楼梯清洁机器人能够实现稳定下楼功能.

The stair-climbing gait planning method is studied in order to make the circular translation feet stair cleaning robot complete the stable descending action.Firstly,the kinematics model of climbing stairs for the robot is established based on the geometric method.Secondly,the process of climbing stairs is divided into two stages,and different planning methods are used correspondingly.Then,each joint angle obtained by the kinematic model is controlled by the built PID control system.Finally,the simulation verification is carried out by Adams and Matlab.The results show that the robot can achieve the function of stably going downstairs.