轮腿式火星探测机器人的多目标协同控制

孙筵龙; 何俊; 邢琰

doi:10.7527/S1000-6893.2020.24246

航空学报 >

2021 , Vol. 42 >Issue 1: 524246 - 524246

DOI: https://doi.org/10.7527/S1000-6893.2020.24246

论文

轮腿式火星探测机器人的多目标协同控制

孙筵龙 ,
何俊 ,
邢琰

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1. 上海交通大学机械与动力工程学院, 上海 200240;
2. 北京控制工程研究所, 北京 100190

收稿日期: 2020-05-18

修回日期: 2020-06-11

网络出版日期: 2020-08-07

基金资助

国家自然科学基金（51575337）；装备预研航天联合基金（6141B06220407）；空间智能控制技术国家级重点实验室基金（HTKJ2019KL502011）

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Multi-target coordinated control of wheel-legged Mars rover

SUN Yanlong ,
HE Jun ,
XING Yan

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1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;
2. Beijing Institute of Control Engineering, Beijing 100190, China

Received date: 2020-05-18

Revised date: 2020-06-11

Online published: 2020-08-07

Supported by

National Natural Science Foundation of China (51575337); Equipment Pre-research Aerospace Joint Fund (6141B06220407); Key Laboratory Fund of Science and Technology on Space Intelligent Control (HTKJ2019-KL502011)

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摘要

火星探测任务要求机器人具有对未知的不规则地形的自适应能力和动态稳定性。针对轮腿式火星探测机器人，提出了基于运动学反解模型、车体姿态和轮壤接触力的多目标协同控制策略。通过车体姿态调整运动学建模、一阶低通滤波及腿部阻抗控制算法和基于腿部运动危险系数的重心高度调整算法，实现了车体姿态的跟踪控制、轮壤恒力接触控制和重心最优高度控制，提升了轮腿机器人在非结构地形中的自适应能力、运动稳定性及腿部运动空间的安全性。在MATLAB和UG中建立联合仿真模型，验证了控制策略的有效性。

关键词： 轮腿式机器人; 协同控制; 运动学; ZMP方法; 联合仿真

本文引用格式

孙筵龙 , 何俊 , 邢琰 . 轮腿式火星探测机器人的多目标协同控制[J]. 航空学报, 2021 , 42(1) : 524246 -524246 . DOI: 10.7527/S1000-6893.2020.24246

Abstract

The Mars exploration mission requires the robot to be dynamically stable and adaptive to the unknown irregular terrain. This paper proposes a multi-target coordinated control strategy for a wheel-legged Mars exploration robot based on the inverse kinematics model, the vehicle body attitude and the wheel-to-ground contact force. Through kinematic modeling of vehicle attitude adjustment, the first-order low-pass filtering and leg impedance control algorithm, and the center of gravity height adjustment algorithm based on the leg motion hazard coefficient, we realize the tracking control of the vehicle body attitude, wheel-ground constant force contact control and the optimal control of the center of gravity height, thereby improving the self-adaptability, movement stability and the safety of the leg movement space when the wheel-legged robot passes unstructured topographies. The effectiveness of this control strategy proposed in this paper is verified by the joint simulation of MATLAB and UG.

Key words： wheel-legged robots; coordinated control; kinematics; ZMP method; joint simulation

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