张丹凤, 李斌, 常健. 基于角度对称性调节的蛇形机器人路径跟随方法[J]. 机器人, 2019, 41(6): 788-794,833. DOI: 10.13973/j.cnki.robot.180768
引用本文: 张丹凤, 李斌, 常健. 基于角度对称性调节的蛇形机器人路径跟随方法[J]. 机器人, 2019, 41(6): 788-794,833. DOI: 10.13973/j.cnki.robot.180768
ZHANG Danfeng, LI Bin, CHANG Jian. Path Following Method for Snake Robot Based on the Angle Symmetry Adjustment[J]. ROBOT, 2019, 41(6): 788-794,833. DOI: 10.13973/j.cnki.robot.180768
Citation: ZHANG Danfeng, LI Bin, CHANG Jian. Path Following Method for Snake Robot Based on the Angle Symmetry Adjustment[J]. ROBOT, 2019, 41(6): 788-794,833. DOI: 10.13973/j.cnki.robot.180768

基于角度对称性调节的蛇形机器人路径跟随方法

Path Following Method for Snake Robot Based on the Angle Symmetry Adjustment

  • 摘要: 为了控制蛇形机器人在摩擦系数未知的地面上跟随期望路径,提出基于角度对称性调节的路径跟随方法.根据运动学分析可知,若关节角度对称变化,则机器人运动方向不发生改变;否则,其运动方向可以发生改变.基于该思想,在力矩控制中设置一个参数,可根据目标点与机器人的位置进行调节,并控制关节角度的对称性.将目标点设置在期望路径上,并且随着机器人的运动,目标点沿着期望路径不断地更新.当机器人没有沿着期望路径运动时,方向参数呈不对称变化.通过负反馈控制使其不对称程度减小直至消失,从而使机器人沿着期望路径运动.最后在不同未知摩擦系数的地面上进行了仿真,得到的轨迹和误差结果显示机器人能够根据期望路径调整运动方向,说明该方法不仅能跟随期望的直线和曲线路径,而且可以在发生侧滑时完成路径跟随任务.

     

    Abstract: In order to control the snake robot to follow desired paths on the ground with unknown friction coefficients, a path following method is proposed based on the angle symmetry adjustment. According to the kinematics analysis, if the joint angle changes symmetrically, the locomotion direction of the robot doesn't change. Otherwise, the locomotion direction will change. Based on this idea, a parameter is set in the torque control, and it can adjust the angle symmetry which is regulated by the positions of the target point and the robot. The target point is set on the desired path, and it is constantly updated along the desired path as the robot is moving. When the robot does not move along the desired path, the direction parameter changes asymmetrically. Negative feedback control is used to decrease the degree of asymmetry until it vanishes, so that the robot moves along the desired path again. Finally simulations on different grounds with unknown friction coefficient are carried out, and the trajectories and the errors obtained show that the robot locomotion direction can be adjusted according to the desired path. The proposed method can not only control the snake robot to follow the desired straight and curve paths on different grounds with unknown friction coefficient, but also complete the path following task when side slip occurs.

     

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