Vertical ladder climbing down motion with internal stress adjustment for a multi-locomotion robot
Vertical ladder climbing down motion with internal stress adjustment for a multi-locomotion robot
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DOI：
10.1109/mhs.2011.6102217
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
Zhiguo Lu;T. Aoyama;K. Sekiyama;Y. Hasegawa;T. Fukuda
中科院分区：
文献类型：
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作者：
Zhiguo Lu;T. Aoyama;K. Sekiyama;Y. Hasegawa;T. Fukuda
本文描述了一种多运动机器人的爬梯运动。由于机器人在爬梯运动中由连杆和梯子构成一个封闭的运动链，如果存在冗余的位置控制关节，由于位置误差（环境中或关节位置中，.），会出现内应力。内应力对平衡机器人载荷（重量和惯性力）没有贡献，但对机器人闭链内部的关节产生较大的扭转应力。提出了一种控制算法，以调节内应力.其主要贡献是通过减少附加内应力来改善机器人的工作条件，并使关节的总平方扭矩最小化。针对机器人爬梯子时步态快速灵活的特点，以爬梯子为例说明了所提出的控制方法。
This paper describes a ladder climbing down motion for a multi-locomotion robot (MLR). Since a closed kinematic chain is formed by robot links and the ladder in the ladder climbing down motion, if there exist redundant position controlled joints, an internal stress would appear due to the position errors (in the environment or in the joint position, …). The internal stress has no contribution to equilibrate the robot load (weight and inertial force), however it produce greater torsional stress to the robot joint inside the closed chain. A control algorithm so that is proposed to adjust the internal stress. The primary contribution is in improving the working condition and minimizing the total squared torques of robot joints by reducing the additional internal stress. Since the pace gait is fast and flexible for robot climbing down the ladder, it is taken as an example to explain the proposed control method.