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Biped robot force sensor simulation and balanced detection research

Author: ZhaoZhengHua
Tutor: ZhangLianDong
School: Dalian Jiaotong University
Course: Mechanical Manufacturing and Automation
Keywords: Modular biped robot F / T sensor Linear Quadratic Optimal Control Homeostasis research Convex Optimization
CLC: TP242.6
Type: Master's thesis
Year: 2011
Downloads: 63
Quote: 0
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Abstract


Modular and fast walking biped robot obstacle in the process have a incomparable superiority . According to kinematic parameters and dynamic behavior requirements, you can use the standard link modules and joint modules to meet customer needs quickly assembled robot configurations. It has a strong ability to adapt to the environment , simple maintenance can achieve cleaner production , low cost, easy assembly . In this paper, a modular biped robot using the German company produces industrial automation PowerCube modules assembled, the legs with 12 degrees of freedom , the upper body instead of using humanoid mass , do not have freedom. This article first modular overview of biped robot is described by DH notation study and solve the forward kinematics transformation matrix of its movement , the robot is derived based on Lagrange dynamics equation of motion simulation for the latter and dynamic balance control provides a theoretical basis . On F / T sensor simulation research process , through the sensor body model is a reasonable simplification , the module will be simplified into force spring - damper - mass system , the measured torque module simplifies into an anti- torque testing device , mathematical modeling and analysis . Linear quadratic optimal control theory for modeling and sensor control system software in Matlab simulink simulation module . Application PID controller calibration method to calibrate the response of the system , and finally to second inverted pendulum and the vehicle as a control input of the sensor control system simulation. In the dynamic equilibrium of the robot during the study are presented in the single support phase and double support Lie group theory based on real-time information detected by the sensor detects the robot zero moment point (ZMP) method and experimental studies validated detection method accuracy . Build robot reference coordinate system , based on ZMP and the center of mass (COM) constraints , the establishment of convex optimization equation using matlab software MOSEK convex optimization toolbox programming operation , thus achieving COM and ZMP tracking error , hip, knee, ankle joint trajectory planning studies, validation convex optimization second-order cone optimization algorithm is effective and the feasibility of walking robots homeostasis .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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