接触力控制的单腿机器人姿态控制

摘要

A posture control system based on the controlled contact force was designed to ensure there is no slipping between the foot of Acrobot(acrobatic single-leg robot)and the ground during motion.The horizontal component of the contact force was set as the control objective of the internal loop and its value was restricted by the friction cone,so that the contact consistency between foot and ground at the tracking process of the shank′s posture angle was preserved.At the upright equilibrium posture of Acrobot,the dynamic equations were linearized and the transfer function link “actuation torque-horizontal contact force-horizontal position of the center of mass-posture angle of the shank”was derived to design the multi-loop control system for the posture angle of the shank.A virtual Acrobot model was built in MATLAB by using the “SimMechanics”toolbox.Simulation results show that the designed control system can realize the tracking control without slipping between the foot and the ground.%为了使 Acrobot（Acrobat 类型的单腿机器人）在运动过程中相对地面没有滑动，设计了基于接触力控制的姿态控制系统，将水平方向接触力作为内环的控制对象并限制其大小，使其总能满足摩擦锥的约束，从而保证在小腿姿态角的跟踪过程中足与地面间不会产生滑动。在 Acrobot 的直立姿态处，对其动力学方程进行线性化，并得到驱动力矩—水平接触力—质心水平位置—小腿姿态角的传递函数链，进而设计小腿姿态角的多环控制系统。在 MATLAB 中用“SimMechanics”工具箱搭建了 Acrobot 的虚拟模型，仿真结果表明，所设计的多环控制系统在实现小腿姿态角跟踪控制的同时还能保证足与地面间不产生滑动。