CN101499222A - Movement gait control method for modular robot with linear structure - Google Patents
Movement gait control method for modular robot with linear structure Download PDFInfo
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- CN101499222A CN101499222A CNA2009100959845A CN200910095984A CN101499222A CN 101499222 A CN101499222 A CN 101499222A CN A2009100959845 A CNA2009100959845 A CN A2009100959845A CN 200910095984 A CN200910095984 A CN 200910095984A CN 101499222 A CN101499222 A CN 101499222A
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Abstract
The invention relates to a movement pace control method of a modular robot of linear structure. A plurality of assembly modules are connected in the same direction; a left bottom plate of one assembly module is rotatablely connected with a right bottom plate of an adjacent assembly module at zero degree; and each assembly module rotates around a rotating shaft of a steering engine, which is connected with a generator that is used for controlling the rotating angle of the rotating shaft of the steering engine. The control method includes: 1) setting control parameters, including the phase difference Delta Phi of adjacent generators, the module amplitude A and period T; and 2) deciding the control function of each generator as: Pi is equal to Asin((2Pi/T)t plus (i-1)Delta Phi)i belonging to (1 to n)(2); in the formula (2), Pi signifies the angle to which a i assembly module is to rotate at time t, wherein, n is the total number of the assembly modules. The control algorithm is simple, small in calculation amount and good in adaptability.
Description
Technical field
The present invention relates to a kind of motion gait control method of simple and easy modularization robot.
Background technology
The modularization robot of modularization robot, especially linear structure is easy to assembly because of having, and low price usually is used for robot teaching and scientific research.Use general or non-general module researchist can assemble the not robot of isomorphism type,, and utilize them to carry out motion control, bionical or the like research as machine machine caterpillar.As the patent No. is 94247368.X, 03257835.0 etc.
But there are the following problems for the at present known modular design that is used for the modularization robot structure: use centralized traditional control structure more, and the control algolithm complexity, calculated amount is big, and inconvenience has bionics Study.
Summary of the invention
The deficiency of, bad adaptability big for the ROBOT CONTROL algorithm complexity that overcomes existing linear structure, calculated amount, it is simple to the invention provides a kind of control algolithm, the motion gait control method of the modularization robot of the linear structure that calculated amount is little, adaptability is good.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of motion gait control method of modularization robot of linear structure, a plurality of assembling modules link to each other with equidirectional, the left bottom plate of an assembling module is rotatably connected with 0 degree with the right base plate of adjacent assembling module, each assembling module rotates around the rotating shaft of steering wheel, described steering wheel connects the generator in order to the rotating shaft anglec of rotation of control steering wheel, and described motion gait control method comprises:
1), controlled variable is set: the phase differential ΔΦ of adjacent generator, module amplitude A and period T;
2), the control function of each generator is:
In the following formula (2), P
iRepresent the angle that i assembling module will forward at time t, wherein n is the sum of assembling module.
As preferred a kind of scheme: described assembling module comprises left bottom plate, right base plate and steering wheel, have the steering wheel rotating disc in the rotating shaft of described steering wheel one side, described assembling module comprises that also steering wheel supports auricle, the steering wheel rotation is exported to support outside auricle, the mechanism and supported auricle in auricle and the mechanism; Support auricle outside described steering wheel support auricle, the mechanism and fixedly connected with right base plate respectively, steering wheel supports auricle fixedlys connected with steering wheel one side, supports auricle outside the mechanism and directly fixedlys connected with right base plate; Support auricle in described steering wheel rotation output auricle, the mechanism and fixedly connected with left bottom plate respectively, steering wheel rotation output auricle is socketed in the rotating shaft of steering wheel one side, supports the mating holes socket of supporting outside auricle top boss rotating shaft and the mechanism on the auricle in the mechanism; Spatially, the rotating shaft of described steering wheel and left bottom plate, right base plate are parallel, it is vertical with right base plate to support auricle outside described steering wheel support auricle, the mechanism, it is vertical with left bottom plate to support auricle in described steering wheel rotation output auricle, the mechanism, and described left bottom plate, right base plate are provided with the mounting hole that cooperates with other assembling module.
Technical conceive of the present invention is: robot adopts some identical basic module GZ-I and a small amount of coupling to form.
See figures.1.and.2, this basic module GZ-I is by 2 base plates (left bottom plate, right base plate), and 1 steering wheel supports auricle, and 1 steering wheel rotation output auricle supports auricle outside 1 mechanism, supports auricle in 1 mechanism, and 1 steering wheel and some attachment screws are formed.All parts all use aluminum alloy machinery to be processed into, and anodization.Module can realize the rotational freedom of a scope between ± 90 degree.Module has 4 joint faces and is used for being connected with other module, is respectively 2 base plates, supports auricle outside steering wheel rotation output panel and the mechanism.
Referring to Fig. 3, steering wheel supports auricle by four groups of screws and steering wheel and is connected, and this steering wheel supports and supports auricle outside auricle and the mechanism and be connected by 4 screws with right base plate, thus unit, the formation module right side; Steering wheel rotating disc and steering wheel rotation output auricle links to each other by with the steering wheel rotating disc Screw that connecting hole is fit to being installed, and support auricle in this auricle and the mechanism and link to each other by 4 screws with left bottom plate, thus the left unit of formation module; The connection that right unit is gone into along module installation shaft line pressure in left unit cooperates, thereby finishes the module assembling fast.
The GZ-I module can freely be rotated on the one dimension direction, and a plurality of modules link to each other with equidirectional, the left bottom plate of a module is rotatably connected with 0 degree with the right base plate of another module exactly, and each module all is to rotate around the rotating shaft of steering wheel, and such linear structure becomes Pitch molded lines structure robot (see figure 7).The module that constitutes the modularization robot of Pitch molded lines structure has the degree of freedom of one dimension direction, and the degree of freedom of these modules all in one direction, so this Pitch molded lines structure robot can free movement on the one dimension direction.
The GZ-I module can 180 the rotations of degree because the symmetry of structure, set it and rotate freely at-90-90 degree.And the control to module also has function regularly, because in the middle of the process to modularization robot control, the rotation between the module has sequencing.Certainly in the process of modularization robot continuous motion, there is periodic motion in each module.
Based on top consideration to module controls, the control algolithm of Center Pattern Generator (CPG) has been proposed, it is the motion control model of animal in the middle of mimic biology is learned, and central pattern generator (cpg) is exactly the neural network that can produce tempo signal in the backbone.This paper adopts Sine Function Generator to simulate central pattern generator (cpg) on mathematics, and the rotation that Sine Function Generator can produce a module of motion control of rhythm, one group of Sine Function Generator then can be controlled the motion of a modularization robot so.Each Sine Function Generator can be represented with formula (1):
A in formula (1)
iBe the amplitude of each generator, the also rotary maximal angle value of representation module; T
iBe the cycle of generator, represent that also each module rotates a circle the desired time; Φ
iThe initial phase of representing each generator, the while is the start angle of representation module rotation also; Phase differential between two Φ can be represented the sequencing of two generators, O
iBe the angle that generator departs from original state, the also rotational symmetric angle value of representation module; P
iThe angle that representation module will forward at time t.The concrete represented implication of these parameters also can see Table 1 and Fig. 6:
| Symbol | Describe | Scope |
| P i | The angle that module i forwarded to | [90,90] degree |
| A i | The amplitude of generator i | [0,90] degree |
| T i | The cycle of generator i | Time quantum |
| Φ i | The phase place of generator i | (180,180] degree |
| O i | The side-play amount of generator i | [90,90] degree |
| n | The number of module | More than 2 |
Table 1
Can draw according to above-mentioned parameter, the angle of turning satisfies { O always
i-A
i, O
i+ A
i, maximum rotating range is 180 degree, so have following relation of plane restriction | and O
i|+A
i≤ 90.
Specifically described above and controlled the Sine Function Generator that each module is rotated, it can well control the rotation of one module, and control a modularization robot, then need each action of one group of parameter control robot, also need simultaneously the topological structure of considering that modularization robot is concrete, different structures, Parameter Optimization is different between the function generator.
Each Sine Function Generator all is by four parameter (A
i, T
i, Φ
i, O
i) control produces angle, if the Pitch humanoid robot of six modules just needs 24 parameters to control.So Duo controlled variable obviously increases the complexity and the difficulty of control, also seems too many, has unitarity in conjunction with the connected mode of this structure, and we have proposed some hypothesis to the motion of Pitch molded lines structure robot:
● the amplitude A of all generators is the same with period T;
● all generators all do not have side-play amount, O
i=0;
● the phase differential of all adjacent generators all is the same, represents with ΔΦ;
● the phase value at the generator of robot initiating terminal is initialized as 0;
Therefore, the parameter predigesting of control pitch molded lines structure robot is the period T of each generator, amplitude A, and the phase differential ΔΦ between the adjacent generator, and the control function of each generator can be reduced to following formula (2):
We can see that each generator all doing periodic sinusoidal motion from formula (2), and the amplitude of each Sine Function Generator all is the same with the cycle, only difference is exactly to differ a phase differential between adjacent two generators, so the residing angle state value of the module on the entire machine people can be considered to be in the value on the out of phase point on the continuous sine wave, when this angle sine wave along with the time when direction is propagated, point on this ripple is also done periodic sinusoidal motion, be at adjacent 2 and all differ ΔΦ, this sine wave is also referred to as angle waves.
When each module of robot is all being done sinusoidal motion, entire machine people's shape of movement also will be in the well-regulated motion state of one-period.
Beneficial effect of the present invention mainly shows: control algolithm is simple, and calculated amount is little, adaptability good.
Description of drawings
Fig. 1 is the structural drawing of assembling machine people's of the present invention assembling module.
Fig. 2 is the reverse side synoptic diagram of Fig. 1.
Fig. 3 is the structural representation of assembling module before assembling.
Fig. 4 is that assembling module is installed cooperation axis synoptic diagram.
Fig. 5 is that assembling module is installed the synoptic diagram that cooperates after finishing.
Fig. 6 is the expressed content synoptic diagram of the parameter of Sine Function Generator.
Fig. 7 is the synoptic diagram of Pitch pattern blocking robot.
Fig. 8 is the angle oscillogram of the assembling module of Pitch molded lines structural module robot.
Fig. 9 is that Pitch molded lines structure robot is in t shape oscillogram constantly.
Figure 10 is the synoptic diagram of the P-P molded lines structural module robot of two assembling modules compositions.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Fig. 5, a kind of motion gait control method of modularization robot of linear structure, a plurality of assembling modules link to each other with equidirectional, the left bottom plate of an assembling module is rotatably connected with 0 degree with the right base plate of adjacent assembling module, each assembling module rotates around the rotating shaft of steering wheel, the rotating shaft of described steering wheel connects the generator in order to the rotating shaft anglec of rotation of control steering wheel, and described motion gait control method comprises:
1), controlled variable is set: the phase differential ΔΦ of adjacent generator, module amplitude A and period T;
2), the control function of each generator is:
In the following formula (2), P
iRepresent the angle that i assembling module will forward at time t, wherein n is the sum of assembling module.
Modularization robot comprises the polylith assembling module, be the GZ-I module, be used to control algorithm central pattern generator (cpg), the control card of steering wheel action, assembling module (is seen Fig. 1,2) comprise left bottom plate 1, right base plate 4 and steering wheel 6, have steering wheel rotating disc 7 in the rotating shaft of described steering wheel 6 one sides, described assembling module comprises that also steering wheel supports auricle 5, the steering wheel rotation is exported to support outside auricle 8, the mechanism and supported auricle 2 in auricle 3 and the mechanism; Support auricle 3 outside described steering wheel support auricle 5, the mechanism and fixedly connected with right base plate 4 respectively, steering wheel supports auricle 5 fixedlys connected with steering wheel 6 one sides, supports auricle 3 outside the mechanism and directly fixedlys connected with right base plate 4; Supporting auricle 2 in described steering wheel rotation output auricle 8, the mechanism fixedlys connected with left bottom plate 1 respectively, steering wheel rotation output auricle 8 is socketed in the rotating shaft of steering wheel 6 one sides, supports the mating holes socket of supporting outside auricle 2 top boss rotating shafts and the mechanism on the auricle 3 in the mechanism; Spatially, the rotating shaft of described steering wheel 6 and left bottom plate 1, right base plate 4 are parallel, and described steering wheel supports that to support auricle 3 outside auricle 5, the mechanism vertical with right base plate 4, and support auricle 2 is vertical with left bottom plate 1 in described steering wheel rotation output auricle 8, the mechanism.Described left bottom plate 1, right base plate 4 are provided with the mounting hole that cooperates with other assembling module, and described central pattern generator (cpg) is connected with the steering wheel of each assembling module by control card.
Described left bottom plate, right base plate are provided with the mounting hole that cooperates with other assembling module.Support auricle outside described steering wheel rotation output panel and the mechanism and be provided with the mounting hole that cooperates with other assembling module.
The left bottom plate of one of them GZ-I module is connected with the right base plate of adjacent block.
The GZ-I module of present embodiment can freely be rotated on the one dimension direction, and a plurality of modules link to each other with equidirectional, the left bottom plate of a module is rotatably connected with 0 degree with the right base plate of another module exactly, and each module all is to rotate around the rotating shaft of steering wheel, and such linear structure becomes Pitch molded lines structure robot.
The robot of Pitch molded lines structure is formed by connecting by a plurality of module chain types, so the motion of robot is realized by the rotation of coordinating between all modules.What introduced each module rotation of control above is a Sine Function Generator, and a Sine Function Generator is by four parameter (A
i, T
i, Φ
i, O
i) control produces angle, if the Pitch humanoid robot of six modules just needs 24 parameters to control.So Duo controlled variable obviously increases the complexity and the difficulty of control, also seems too many, has unitarity in conjunction with the connected mode of this structure, and we have proposed some hypothesis to the motion of Pitch molded lines structure robot:
● the amplitude A of all generators is the same with period T;
● all generators all do not have side-play amount, O
i=0;
● the phase differential of all adjacent generators all is the same, represents with ΔΦ;
● the phase value at the generator of robot initiating terminal is initialized as 0;
So the parameter predigesting of control pitch molded lines structure robot is the period T of each generator, amplitude A, and the phase differential ΔΦ between the adjacent generator, the control function of each generator can be reduced to following formula (2):
We can see that each generator all doing periodic sinusoidal motion from formula (2), and the amplitude of each Sine Function Generator all is the same with the cycle, only difference is exactly to differ a phase differential between adjacent two generators, so the residing angle state value of the module on the entire machine people can be considered to be in the value on the out of phase point on the continuous sine wave, when this angle sine wave along with the time when direction is propagated, point on this ripple is also done periodic sinusoidal motion, be at adjacent 2 and all differ ΔΦ, this sine wave is also referred to as angle waves, and its angle waveform can be as shown in Figure 8.
When each module of robot is all being done sinusoidal motion, entire machine people's shape of movement also will be in the well-regulated motion state of one-period, and the shape of movement of robot has directly determined its motion principle, next the robot that specifically investigates pitch type structure is at t shape of movement constantly, and and the die angle ripple between relation.
Among Fig. 9, each stain is represented the pivot point of each module, t constantly the rotational angle of each module corresponding to Fig. 9 in the t angle of corresponding module on the angle waves constantly, along with each angle is done periodic sinusoidal motion, the shape of this robot also can generate corresponding sine wave, when the health of this Pitch molded lines structure robot is done undulation, just produced the power that travels forward or move backward, so the parameter in the control formula (2) just can realize the undulation of robot.
The modularization robot of Pitch molded lines structure has only the motion of one dimension direction, creeps so its unique motion gait is exactly the front and back sine.Controlling the controlled variable that it creeps is exactly ΔΦ, module amplitude A and period T, and the velocity of rotation of period T control module is certainly also with regard to the creep speed of control robot; And the maximum angular that module amplitude A control module is rotated, also with regard to the amplitude of control robot shape waveform, module amplitude A value is big more, the amplitude of shape waveform also big more; The phase differential ΔΦ can be controlled the size of shape waveform, and when ΔΦ was a little bit smaller, the number of modules that constitutes a shape waveform was just many, the waveform that constitutes is just big, the opposite shape waveform that forms is just smaller, and the direction of creeping that ΔΦ can also control robot is creeped forward or creeped backward in addition.
Creeping forward and be the same creeping backward on principle, is the separatrix with ΔΦ=180 degree basically, thus specifically to forwards to the gait analysis of creeping, the machine of the Pitch molded lines connection that constitutes with six modules is example artificially, set A=45, during T=20, it can be at ΔΦ ∈ { 80, creep forward normally in the scope of 160}, by experiment, find that creep speed is the fastest in the time of ΔΦ=120, and work as A ∈ { 30, during 60}, the shape waveform is better.The principle of creeping in the other direction with creep equally forward, it is negative to be that ΔΦ is got on original basis, { 200, in the time of 280}, this robot will creep in the opposite direction just to work as ΔΦ ∈.
With reference to Figure 10, the robot of Pitch molded lines structure it need a plurality of modules to connect and compose, and module multiform shape waveform more is also smooth more, and it is also smooth more to move; But also there is minimum structure in it, is made of two modules exactly.Although these two modules can not constitute a complete waveform, still the form with a bit of waveform moves forward, and just in the process of advancing, advancing of discontinuity can occur.Concrete synoptic diagram is seen Figure 10, and it has described the process that moves forward in one-period, wherein (ΔΦ=120).
The motion gait: the robot of this P-P structure also can move forwards or backwards, and has only this two motions.In motion process forward or backward, they have between a motor area.Draw by experiment as drawing a conclusion: { 100, in the time of 170}, the robot of P-P type two modular structures travels forward as the phase differential ΔΦ ∈ of two modules; { 190, in the time of 250}, robot is motion backward just as ΔΦ ∈.
Claims (2)
1, a kind of motion gait control method of modularization robot of linear structure, it is characterized in that: a plurality of assembling modules link to each other with equidirectional, the left bottom plate of an assembling module is rotatably connected with 0 degree with the right base plate of adjacent assembling module, each assembling module rotates around the rotating shaft of steering wheel, described steering wheel connects the generator in order to the control steering wheel rotating shaft anglec of rotation, and described motion gait control method comprises:
1), controlled variable is set: the phase differential ΔΦ of adjacent generator, module amplitude A and period T;
2), the control function of each generator is:
In the following formula (2), P
iRepresent the angle that i assembling module will forward at time t, wherein n is the sum of assembling module.
2, the motion gait control method of the modularization robot of linear structure as claimed in claim 1, it is characterized in that: described assembling module comprises left bottom plate, right base plate and steering wheel, have the steering wheel rotating disc in the rotating shaft of described steering wheel one side, described assembling module comprises that also steering wheel supports auricle, the steering wheel rotation is exported to support outside auricle, the mechanism and supported auricle in auricle and the mechanism; Support auricle outside described steering wheel support auricle, the mechanism and fixedly connected with right base plate respectively, steering wheel supports auricle fixedlys connected with steering wheel one side, supports auricle outside the mechanism and directly fixedlys connected with right base plate; Support auricle in described steering wheel rotation output auricle, the mechanism and fixedly connected with left bottom plate respectively, steering wheel rotation output auricle is socketed in the rotating shaft of steering wheel one side, supports the mating holes socket of supporting outside auricle top boss rotating shaft and the mechanism on the auricle in the mechanism; Spatially, the rotating shaft of described steering wheel and left bottom plate, right base plate are parallel, it is vertical with right base plate to support auricle outside described steering wheel support auricle, the mechanism, it is vertical with left bottom plate to support auricle in described steering wheel rotation output auricle, the mechanism, and described left bottom plate, right base plate are provided with the mounting hole that cooperates with other assembling module.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739241A (en) * | 2019-01-24 | 2019-05-10 | 刘志成 | A kind of Four-feet creeping robot C PG control system of imitative lizard body structure |
| CN109960157A (en) * | 2017-12-22 | 2019-07-02 | 深圳市优必选科技有限公司 | Smoothing processing method, device, terminal device and the storage medium of steering engine movement |
| CN113018018A (en) * | 2021-03-01 | 2021-06-25 | 广州希科医疗器械科技有限公司 | Wheelchair motor control method, system and device and wheelchair |
| CN114911178A (en) * | 2022-04-22 | 2022-08-16 | 厦门大学 | Steering engine control method and system based on key frame action |
-
2009
- 2009-02-26 CN CNA2009100959845A patent/CN101499222A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109960157A (en) * | 2017-12-22 | 2019-07-02 | 深圳市优必选科技有限公司 | Smoothing processing method, device, terminal device and the storage medium of steering engine movement |
| CN109739241A (en) * | 2019-01-24 | 2019-05-10 | 刘志成 | A kind of Four-feet creeping robot C PG control system of imitative lizard body structure |
| CN113018018A (en) * | 2021-03-01 | 2021-06-25 | 广州希科医疗器械科技有限公司 | Wheelchair motor control method, system and device and wheelchair |
| CN114911178A (en) * | 2022-04-22 | 2022-08-16 | 厦门大学 | Steering engine control method and system based on key frame action |
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