CAJ | 학술논문

针对利用舵机控制多足大负载机器人中，因负载及自身重量导致的机器人运动控制精度下降的问题，提出通过对非线性进行前馈补偿的方式，减小误差的控制策略。对四自由度腿部结构进行运动学建模，完成运动学正逆解，通过仿真验证结果的正确性，得到各关节的理想输入角度；在试验时检测舵机控制过程中的饱和及摩擦非线性现象，分析产生原因，利用数学表达式对该现象曲线进行描述，线性回归辨识出表达式中的关键参数；在考虑非线性环节的基础上改进现有的控制策略，加入前馈补偿，以减小控制误差；通过对竖直直线运动和抛物线2种轨迹的试验可知，角度相对误差稳定在1％左右。
침대이용타궤공제다족대부재궤기인중，인부재급자신중량도치적궤기인운동공제정도하강적문제，제출통과대비선성진행전궤보상적방식，감소오차적공제책략。대사자유도퇴부결구진행운동학건모，완성운동학정역해，통과방진험증결과적정학성，득도각관절적이상수입각도；재시험시검측타궤공제과정중적포화급마찰비선성현상，분석산생원인，이용수학표체식대해현상곡선진행묘술，선성회귀변식출표체식중적관건삼수；재고필비선성배절적기출상개진현유적공제책략，가입전궤보상，이감소공제오차；통과대수직직선운동화포물선2충궤적적시험가지，각도상대오차은정재1％좌우。
A control strategy was proposed to reduce the control error for the multi‐legged robots with large load driven by servos ,because of the decreased accuracy of robot motion control due to the load and its own weight . The solution of forward kinematics and inverse kinematics was finished based on the kinematics modeling of a four degrees‐of‐freedom leg .The accuracy was verified using simulation .The desired angles of each joint were got .A nonlinear phenomenon including saturation and backlash occured . Mathematical expressions were founded to describe this phenomenon .The key parameters were identified by linear regression .The control strategy was improved by adding a feedforward compensation in order to reduce the error .Two different tracks including vertical linear motion and parabola motion were used to verify the strategy .The relative error was about 1% or less .