CN110682273A - Multi-foot support walking robot motion control frame based on parallel mechanism thinking - Google Patents

Multi-foot support walking robot motion control frame based on parallel mechanism thinking Download PDF

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CN110682273A
CN110682273A CN201910955595.9A CN201910955595A CN110682273A CN 110682273 A CN110682273 A CN 110682273A CN 201910955595 A CN201910955595 A CN 201910955595A CN 110682273 A CN110682273 A CN 110682273A
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coordinate system
pose
joint
robot
value
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CN110682273B (en
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岳克双
李法设
许楠
苗燕楠
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Siasun Co Ltd
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Siasun Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a motion control framework of a multi-foot support walking robot based on parallel mechanism thinking, which plans and controls the motion of the multi-foot support walking robot by considering the multi-foot support walking robot as a parallel mechanism. For the control of the supporting legs, the body of the walking robot is used as a movable platform of a parallel mechanism, the parts of the walking robot, which are contacted with the ground by a plurality of supporting feet, are used as a static platform of the parallel mechanism, and the supporting legs of the walking robot are used as different branched chains of the parallel mechanism; the walking robot is enabled to move according to an expected all-directional motion target through pose planning of the movable platform, and therefore the all-directional movement problem of the walking robot is only used as the problem of position planning and position control. For the pose deviation of the body in the moving process of the walking robot, the pose control of the movable platform is reduced, and finally the pose control is reduced to the joint control, so that the problems of the inclination and the steering of the body are only taken as the problems of the pose planning and the pose; greatly simplifying the planning and pose control of the robot body.

Description

Multi-foot support walking robot motion control frame based on parallel mechanism thinking
Technical Field
The invention relates to a motion control frame, in particular to a motion control frame of a multi-foot support walking robot, and specifically relates to a motion control frame of a multi-foot support walking robot based on parallel mechanism thinking.
Background
In complex terrains, how to make the walking robot walk to a desired target smoothly is a major difficulty. The robot is required to be subjected to motion planning, track planning, pose control and the like, wherein the motion planning is used for planning a motion path of the robot, the track planning enables the robot to move on a specific path according to a certain kinematics rule, and the pose control is used for reducing position and attitude errors in the moving process of the robot so as to ensure the stable operation of the robot.
Reasonable design of a motion control framework is very important for the motion of a walking robot, and the control of the current multi-legged supporting walking robot (such as a quadruped robot and a hexapod robot) on a machine body is mostly based on the thinking of a series mechanism: the machine body is taken as a base, each leg is taken as an independent serial branched chain, the motion of the machine body is taken as the relative swing of each leg relative to the machine body, and the aim of controlling the machine body is further achieved by planning and controlling the motion of the leg parts. Based on the thought, the motion of the legged robot needs to plan the trajectories of the legs and the feet in sequence according to a certain sequence, and in order to control the motion direction of the walking robot, the trajectories of the feet need to be planned according to a specific direction respectively, and then the trajectories are fused; in order to control the motion posture of the walking robot, the posture control of a part of the robot body needs to be integrated into the trajectory planning, so that the walking robot moves along a set direction according to a certain posture requirement. The robot motion control based on the thought of the serial mechanism mainly achieves the aim of controlling the motion of the robot body by planning and controlling the motion of the legs, so the motion control of the robot body is not intuitive; the leg planning and the robot body pose control are coupled with each other, so that the track planning is complicated, the robot pose control difficulty and the debugging complexity are increased, and the rationality analysis and the function optimization of the planning and pose control algorithm are not facilitated.
Disclosure of Invention
In order to avoid the problems caused by the motion control of the legged robot based on the thought of the serial mechanism, the invention provides a multi-legged support walking robot motion control frame based on the thought of the parallel mechanism, and the motion control frame based on the thought of the parallel mechanism enables the motion planning problem and the pose control problem of the walking robot to be directly designed aiming at the robot body of the robot, so that the planning and the pose control of the robot body are greatly simplified.
The invention relates to a motion control framework of a multi-legged support walking robot based on the thinking of a parallel mechanism, which plans and controls the motion of the multi-legged support walking robot by regarding the multi-legged support walking robot as the parallel mechanism. First, the support leg control is performed by using the body of the walking robot as a parallel mechanism movable platform, using the portions of the walking robot in contact with the ground where the plurality of support legs are in contact as a parallel mechanism stationary platform, and using the support legs of the walking robot as different branched chains of the parallel mechanism. Therefore, the motion of the robot body can be regarded as the motion of the movable platform of the parallel mechanism. Wherein, the forward, backward and up-and-down movement of the robot can be regarded as the translation of the movable platform; the tilting and steering motions of the robot body can be regarded as the rotation of the movable platform; and finally, the walking robot is enabled to move according to the expected omnibearing moving target through the pose planning and the pose control of the moving platform. And for the pose deviation of the body, which occurs in the moving process of the walking robot, the pose control of the movable platform is reduced, the pose control is finally returned to the joint control, and the problems of movement, inclination and steering of the body are taken as the problems of pose planning and pose control.
The invention relates to a multi-foot supporting walking robot motion control frame based on parallel mechanism thinking, which is mainly based on three coordinate systems, and comprises the following components in parts by weight:
A. world or navigation coordinate system W (X)w，Yw，Zw) Representing a world coordinate reference system of the robot;
B. robot body plane coordinate system B (X)B，YB，ZB) The coordinate system is established on the movable platform, the original point is generally the geometric center of the robot body and represents a coordinate reference system fixedly connected with the movable platform of the parallel mechanism;
C. coordinate system S (X) of plane formed by contact points of foot end of robot supporting leg and grounds，Ys，Zs) Representing a coordinate reference system where a parallel mechanism static platform is located;
the invention relates to a multi-foot support walking robot motion control framework based on parallel mechanism thinking, which comprises the following specific processes:
(1) parameters required for controlling the motion of the walking robot, robot states, coordinate system definitions and the like are initialized.
(2) The support legs and swing legs of the robot are determined.
(3) And updating the coordinate system S according to the support state to obtain the position and the posture of the S coordinate system relative to the W coordinate system.
(4) And planning the position and the posture of the mass center of the lower fuselage in a coordinate system W.
And under the coordinate system W, performing motion planning on the coordinate system B according to the initialization parameters, and determining a pose planning value of the coordinate system B under the coordinate system W.
(5) And converting the pose planning value of the coordinate system B under the coordinate system W into a planning value under the coordinate system S.
(6) And determining the robot joint angle value or joint constraint relation in the coordinate system S according to the coordinates of the fuselage mass center pose planning point in the coordinate system S.
(7) And determining an expected angle value of the driving joint according to the robot joint angle value or the joint constraint relation in the coordinate system S.
(8) Joint position control is performed based on the desired angle value of the drive joint and the actual joint position or velocity measured by the sensor.
(9) And acquiring a joint angle measurement value under a coordinate system S and a fuselage attitude measurement value under a coordinate system W.
(10) And obtaining the pose of the B coordinate system relative to the S coordinate system according to the joint angle measurement value in the S coordinate system.
(11) And obtaining the pose of the B coordinate system relative to the W coordinate system according to the pose measurement value of the B coordinate system under the S coordinate system, the pose of the S coordinate system relative to the W coordinate system and the pose of the B coordinate system relative to the W coordinate system.
(12) And controlling the pose of the fuselage according to the planned value and the measured value of the pose of the fuselage in the W coordinate system, and converting the pose error into six-dimensional virtual force/moment of the B coordinate system relative to the W coordinate system.
(13) And converting the six-dimensional virtual force/moment of the B coordinate system relative to the W coordinate system into the six-dimensional virtual force/moment of the B coordinate system relative to the S coordinate system by using the pose of the S coordinate system relative to the W coordinate system.
(14) And converting the six-dimensional virtual force/moment into a joint moment expected value or a joint moment constraint relation of the S coordinate system according to the six-dimensional virtual force/moment of the B coordinate system relative to the S coordinate system.
(15) Driving the joint torque.
And determining the expected driving joint moment value according to the expected joint moment value of the S coordinate system or the constraint relation of the joint moment.
(16) And controlling the joint position and the moment in a mixed manner.
And performing joint hybrid control according to the expected value and the measured value of the driving joint force position, the expected value and the feedback value of the moment, and controlling the movement of the support leg joint.
(17) W is the desired position of the swing leg drop foot point.
And after the swing leg is determined in the step 2, determining an expected position of the swing leg in contact with the ground after the swing is finished according to the state of the robot and the expected movement value of the robot body.
(18) After the expected position of the swing leg contacting with the ground after the swing is finished is determined, the trajectory planning of the foot end of the swing leg is carried out based on the W system, and the expected position value of the foot end of the swing leg from the start of the swing to the foot falling point is determined.
(19) And determining the expected value of the foot end position of the swing leg relative to the B coordinate system according to the expected value of the foot end position of the swing leg in the W coordinate system and the pose of the B coordinate system relative to the W coordinate system.
(20) And determining the expected angle value of the driving joint of the swing leg according to the expected position value of the foot end relative to the B coordinate system.
(21) And controlling the joint position according to the expected value and the measured value of the swing leg driving joint, and controlling the swing leg driving joint to move.
(22) And obtaining the position measurement value of the foot end of the swing leg relative to the B coordinate system according to the angle measurement value of the swing leg joint.
(23) And determining the position of the swing leg foot end relative to the W coordinate system according to the pose of the B coordinate system relative to the W coordinate system and the position of the swing leg foot end relative to the B coordinate system.
(24) And detecting whether the foot end of the swing leg is in contact with the ground.
(25) If the swing leg is not in contact with the ground, the step (24) is switched to. If the swing leg is in contact with the ground, the next step is carried out.
(26) And (3) switching all the swing legs and the support legs according to a swing leg sequence or a support leg and swing leg switching signal of the motion plan, returning to the step 2, determining new support legs and swing legs, and continuing to perform the steps 3-26.
The invention has the advantages that:
1. the invention relates to a multi-foot supporting walking robot motion control framework based on parallel mechanism thinking, which reasonably, clearly and specifically explains the motion control process of the multi-foot supporting walking robot, provides a set of complete technical routes for developing the multi-foot supporting walking robot, and has important guiding significance for the technical development of the robot.
2. The multi-foot support walking robot motion control framework based on the thought of the parallel mechanism converts the motion and control of the robot body into the pose planning and pose control of the moving platform of the parallel mechanism, and uses the leg planning and the foot falling point control for updating the pose of the moving platform of the parallel mechanism, so that the decoupling of the robot planning and control is realized, the complexity of the planning and control is greatly reduced, and the functional analysis and optimization of the planning and pose control are facilitated.
Drawings
FIG. 1 is a schematic diagram of a coordinate system based on which the motion control framework of the multi-legged walking robot based on the thinking of a parallel mechanism is based;
fig. 2 is a flow chart of the motion control framework of the multi-legged support walking robot based on the thought of the parallel mechanism.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention relates to a motion control framework of a multi-legged support walking robot based on parallel mechanism thinking, which plans and controls the motion of the multi-legged support walking robot by regarding the multi-legged support walking robot as a parallel mechanism based on the parallel mechanism thinking.
First, the support leg control is performed by using the body of the walking robot as a parallel mechanism movable platform, using the portions of the walking robot in contact with the ground where the plurality of support legs are in contact as a parallel mechanism stationary platform, and using the support legs of the walking robot as different branched chains of the parallel mechanism. Therefore, the motion of the robot body of the walking robot can be regarded as the motion of the movable platform of the parallel mechanism; wherein, the forward, backward and up-and-down movement of the robot can be regarded as the translation of the movable platform; the tilting and steering motions of the robot body can be regarded as the rotation of the movable platform. Therefore, the walking robot can move according to the expected all-directional motion target through the pose planning of the movable platform, and the all-directional movement problem of the walking robot is only used as the position planning and position control problem of the movable platform. And for the deviation of the pose (position and posture) of the fuselage, which occurs in the moving process of the walking robot, the pose control of the movable platform is reduced as much as possible, and the posture control is finally integrated into the joint control, so that the problems of the inclination and the steering of the fuselage are only taken as the problems of the pose planning and the pose control.
Therefore, the invention completely splits the motion of the walking robot into two parts, namely a planning part for the omnibearing motion of the walking robot and a position and posture control part for the robot body of the walking robot, thereby realizing the functional decoupling. For the trajectory planning and control of the swing leg part on the swing leg of the walking robot, the trajectory planning and control are carried out on the basis of the serial branched chains on the basis of the moving platform, so that the trajectory planning and control of the swing leg is decoupled. And after the swing leg touches the ground, switching the current support leg into the swing leg according to the ground touch detection, switching the current swing leg into the support leg, and performing subsequent operation according to the support leg plan and control based on the parallel mechanism thinking and the swing leg plan and control based on the series mechanism thinking again.
The invention relates to a multi-foot supporting walking robot motion control frame based on parallel mechanism thinking, which is mainly based on three coordinate systems, as shown in figure 1, and comprises the following components:
A. world or navigation coordinate system W (X)w，Yw，Zw) Representing a world coordinate reference system of the robot;
B. coordinate system B (X) of robot body plane (equivalent to parallel mechanism moving platform)B，YB，ZB) The coordinate system is established on the movable platform, the original point is generally the geometric center of the robot body and represents a coordinate reference system fixedly connected with the movable platform of the parallel mechanism;
C. coordinate system S (X) of plane (equivalent to parallel mechanism static platform) formed by contact points of foot end and ground of robot supporting legs，Ys，Zs) And the coordinate reference system of the static platform of the parallel mechanism is shown.
Based on the three coordinate systems, the basic flow of the motion control frame of the multi-legged support walking robot based on the thought of the parallel mechanism is as follows:
(1) parameters required for controlling the motion of the walking robot, robot states, coordinate system definitions and the like are initialized. Such as: determining feedback quantities such as joint position, joint speed, joint moment, plantar force, supporting state and the like of the robot in an initial state; determining initial robot state quantities such as initial speed of a body, initial posture, leg movement modes and sequences in gait planning; determining a world coordinate system W, a coordinate system S where a robot supporting plane is located, and an origin position and a coordinate axis direction of a machine body coordinate system in an initial state; an initial transformation relationship between the three coordinate systems is determined.
(2) The support legs and swing legs are determined from the robot initialization state or from touchdown detection.
(3) After the supporting legs are determined, the coordinate system S can be updated according to the supporting state, and the position and the posture of the S coordinate system relative to the W coordinate system are obtained.
(4) And planning the position and the posture of the mass center of the lower fuselage in a coordinate system W.
And under a coordinate system W, performing motion planning on a coordinate system B according to the initialization parameters, namely performing motion planning on a mass center coordinate of the fuselage and a posture of the fuselage under the coordinate system W, and determining a series of target values of the origin position and the posture (the posture of the fuselage) of the coordinate system B under the coordinate system W, namely a pose planning value of the coordinate system B under the coordinate system W.
(5) And planning the position and the pose of the mass center of the fuselage under the coordinate system S.
And converting the position and attitude planning value of the coordinate system B under the coordinate system W into a planning value under the coordinate system S, namely converting the position and attitude trajectory planning target point of the movable platform relative to the coordinate system W into a position and attitude trajectory planning target point of the movable platform relative to the coordinate system S.
(6) Inverse kinematics of the parallel mechanism under the coordinate system S.
And determining the robot joint angle value or joint constraint relation under the coordinate system S by utilizing inverse kinematics of the parallel mechanism according to the body mass center pose planning point coordinates under the coordinate system S.
(7) And determining an expected angle value of the driving joint according to the robot joint angle value or the joint constraint relation in the coordinate system S.
(8) And controlling the joint position and the moment in a mixed manner.
Joint position control is performed based on the desired angle value of the driving joint and the actual joint position or velocity measured by the sensor, which is part of the joint hybrid control.
(9) And acquiring a joint angle measurement value under a coordinate system S and a fuselage attitude measurement value under a coordinate system W.
Measuring a driving joint angle measured value according to the sensor, and converting the driving joint angle measured value into a joint angle measured value under an S coordinate system; the measured value of the attitude of the body in the W coordinate system, i.e., the attitude of the B coordinate system with respect to the W coordinate system, is obtained by utilizing IMU (inertial measurement unit) or state estimation.
(10) S is the positive kinematics of the parallel mechanism.
And obtaining the pose of the B coordinate system relative to the S coordinate system by utilizing the positive kinematics of the parallel mechanism according to the joint angle measurement value in the S coordinate system.
(11) W is the measured value of the pose of the body.
And obtaining the pose of the B coordinate system relative to the W coordinate system, namely the pose of the fuselage relative to the world coordinate system, by utilizing coordinate transformation and information fusion according to the pose measurement value of the B coordinate system under the S coordinate system, the pose of the S coordinate system relative to the W coordinate system and the pose of the B coordinate system relative to the W coordinate system.
(12) And controlling the virtual force of the pose of the W-system fuselage to obtain the virtual six-dimensional force/moment of the fuselage of the W-coordinate system.
And performing fuselage pose control (such as virtual force control) according to the fuselage pose planning value and the measured value in the W coordinate system, and converting the pose error into six-dimensional virtual force/moment of the B coordinate system relative to the W coordinate system.
(13) S is the six-dimensional force/moment of the fuselage.
And converting the six-dimensional virtual force/moment of the B coordinate system relative to the W coordinate system, which is obtained according to the control of the pose of the fuselage, into the six-dimensional virtual force/moment of the B coordinate system relative to the S coordinate system, namely the six-dimensional virtual force/moment of the parallel mechanism moving platform relative to the static platform, by utilizing the pose of the S coordinate system relative to the W coordinate system.
(14) S is the inverse dynamics of the parallel linkage.
According to the six-dimensional virtual force of the B coordinate system relative to the S coordinate system, the six-dimensional virtual force/moment is converted into a joint moment expected value or a joint moment constraint relation of the S coordinate system by using a parallel mechanism inverse dynamic or static balance equation
(15) Driving the joint torque.
And determining the expected driving joint moment value according to the expected joint moment value of the S coordinate system or the constraint relation of the joint moment.
(16) And controlling the joint position and the moment in a mixed manner.
And (4) carrying out moment control according to the expected driving joint moment value and the feedback value (joint moment measured value or joint moment algorithm estimated value), wherein the moment control is a part of joint hybrid control, and the moment control is combined with the joint position control in the step (8) to form joint hybrid control to control the motion of the supporting leg joint.
(17) W is the desired position of the swing leg drop foot point.
After the support leg is determined in step 2, a desired position (foot drop point) of the swing leg in contact with the ground after the swing is finished can be determined according to the robot state and the desired motion value of the robot body, for example, the desired position of the swing leg in contact with the ground after the swing is finished, namely the foot drop point of the swing leg is determined through a spring inverted pendulum model.
(18) W is the swing leg foot end trajectory plan.
After the swing leg foot-drop point is determined, a swing leg foot end trajectory plan can be performed based on the W system, and a series of expected position values of the swing leg foot end from the beginning of swing to the foot-drop point are determined.
(19) B is the locus of the foot end of the swing leg.
And determining the expected foot end position value of the swing leg relative to the B coordinate system according to the expected foot end position value of the swing leg in the W coordinate system and the posture of the B coordinate system relative to the W coordinate system.
(20) B is single-leg inverse kinematics.
And determining the expected angle value of the driving joint of the swing leg according to the expected position value of the foot end relative to the B coordinate system by utilizing the single-leg inverse kinematics of the foot end of the swing leg relative to the B coordinate system and the expected position value of the foot end relative to the B coordinate system.
(21) And controlling the swing leg joint.
And controlling the joint position according to the expected value and the measured value of the swing leg driving joint, and controlling the swing leg driving joint to move.
(22) B is the swing leg foot position measurement.
And obtaining the position measurement value of the foot end of the swing leg relative to the B coordinate system by utilizing the single leg positive kinematics of the foot end of the swing leg relative to the B coordinate system according to the angle measurement value of the joint of the swing leg.
(23) W is the swing leg foot position.
And determining the position of the swing leg foot end relative to the W coordinate system according to the pose of the B coordinate system relative to the W coordinate system and the position of the swing leg foot end relative to the B coordinate system.
(24) Touchdown detection. And detecting whether the foot end of the swing leg is contacted with the ground or not according to the foot end position of the swing leg, the current or the foot end touch sensor.
(25) If the touchdown detection state is negative, namely the contact between the swing leg and the ground is not detected, turning to the step (24); if the touchdown detection state is yes, namely the contact between the swing leg and the ground is detected, the next step is carried out.
(26) The supporting legs and the swinging legs are switched.
After the ground contact detection state is yes, switching all swing legs and support legs according to a leg swing sequence or support leg and swing leg switching signal of the motion plan, returning to the step 2, and determining new support legs and swing legs; and (3) determining that the new supporting leg is rotated backwards, continuing to execute, and (17) determining that the new swinging leg is rotated backwards, continuing to execute.
The steps (3) to (16) are the support leg parts, and the steps (17) to (25) are the swing leg parts, and the two parts are performed synchronously.
In the multi-foot support walking robot motion control framework based on the thought of the parallel mechanism, the function realization of a certain link has great flexibility, a specific method for realizing the link is not strictly limited for the specific link, but a plurality of possible realization schemes for realizing the function of the certain link are considered, and only a reference realization scheme is provided on the specific method, so that the motion control framework not only ensures the technical guidance significance of the control framework, but also gives consideration to the creation of space for the sufficient realization scheme for developers.

Claims (3)

1. A multi-foot supporting walking robot motion control frame based on parallel mechanism thinking is characterized in that: the walking robot with multi-feet support is regarded as a parallel mechanism to plan and control the movement of the walking robot;
firstly, for the control of the supporting legs, the body of the walking robot is used as a movable platform of a parallel mechanism, the contact parts of a plurality of supporting feet of the walking robot and the ground are used as static platforms of the parallel mechanism, and each supporting leg of the walking robot is used as a different branched chain of the parallel mechanism; therefore, the motion of the robot body of the walking robot can be regarded as the motion of the movable platform of the parallel mechanism; wherein, the forward, backward and up-and-down movement of the robot can be regarded as the translation of the movable platform; the tilting and steering motions of the robot body can be regarded as the rotation of the movable platform; and finally, the walking robot is enabled to move according to the expected omnibearing moving target through the pose planning and the pose control of the moving platform.
2. The motion control frame of the multi-legged supporting walking robot based on the thinking of the parallel mechanism as claimed in claim 1, wherein: the pose deviation of the robot body, which appears in the moving process of the walking robot, is reduced through the pose control of the movable platform, and finally the pose control is returned to the joint control, and the problems of the inclination and the steering of the robot body are taken as the problems of the pose planning and the pose control of the movable platform of the parallel mechanism.
3. The motion control frame of the multi-legged supporting walking robot based on the parallel mechanism thinking as claimed in claim 1 or 2,
the process is as follows:
based on three coordinate systems, respectively:
A. world or navigation coordinate system W (X)w，Yw，Zw) Representing a world coordinate reference system of the robot;
B. robot body plane coordinate system B (X)B，YB，ZB) The system is established on a movable platform, the original point is generally the geometric center of the robot body, and a coordinate reference system fixedly connected with the movable platform of the parallel mechanism is represented;
C. coordinate system S (X) of plane formed by contact points of foot end of robot supporting leg and grounds，Ys，Zs) Representing a coordinate reference system where a parallel mechanism static platform is located;
(1) initializing parameters, robot states, coordinate system definitions and the like required by the motion control of the walking robot;
(2) determining a supporting leg and a swinging leg of the robot;
(3) updating the coordinate system S according to the support state to obtain the position and the posture of the S coordinate system relative to the W coordinate system;
(4) planning the position and the posture of the mass center of the lower fuselage in a coordinate system W;
under a coordinate system W, motion planning is carried out on the coordinate system B according to the initialization parameters, and a pose planning value of the coordinate system B under the coordinate system W is determined;
(5) converting the pose planning value of the coordinate system B under the coordinate system W into a planning value under the coordinate system S;
(6) determining a robot joint angle value or a joint constraint relation under a coordinate system S according to the coordinates of the fuselage mass center pose planning point under the coordinate system S;
(7) determining an expected angle value of a driving joint according to the robot joint angle value or the joint constraint relation under the coordinate system S;
(8) performing joint position control according to the desired angle value of the driving joint and the actual joint position or velocity measured by the sensor;
(9) acquiring a measured value of a joint angle under a coordinate system S and a measured value of a fuselage attitude under a coordinate system W; (10) obtaining the pose of the coordinate system B relative to the coordinate system S according to the joint angle measurement value in the coordinate system S;
(11) obtaining the pose of the B coordinate system relative to the W coordinate system according to the pose measurement value of the B coordinate system under the S coordinate system, the pose of the S coordinate system relative to the W coordinate system and the pose of the B coordinate system relative to the W coordinate system;
(12) carrying out fuselage pose control according to the fuselage pose planning value and the measured value in the W coordinate system, and converting the pose error into six-dimensional virtual force/moment of the B coordinate system relative to the W coordinate system;
(13) converting the six-dimensional virtual force/moment of the B coordinate system relative to the W coordinate system into the six-dimensional virtual force/moment of the B coordinate system relative to the S coordinate system by utilizing the pose of the S coordinate system relative to the W coordinate system;
(14) converting the six-dimensional virtual force/moment into a joint moment expected value or a joint moment constraint relation of the S coordinate system according to the six-dimensional virtual force/moment of the B coordinate system relative to the S coordinate system;
(15) a drive joint torque;
determining a driving joint moment expected value according to a joint moment expected value of an S coordinate system or a constraint relation of joint moments;
(16) controlling the joint position and the moment in a mixing manner;
performing joint hybrid control according to the expected value and the measured value of the driving joint position, the expected value and the feedback value of the moment, and controlling the movement of the supporting leg joint;
(17) w is the expected position of the swing leg foot drop point;
after the swing leg is determined in the step 2, determining an expected position of the swing leg in contact with the ground after the swing is finished according to the state of the robot and the expected motion value of the robot body;
(18) after the expected position of the swing leg in contact with the ground after the swing is finished is determined, performing swing leg foot end trajectory planning based on a W system, and determining the expected position value of the swing leg foot end from the beginning of swing to a foot falling point;
(19) determining the expected value of the foot end position of the swing leg relative to the B coordinate system according to the expected value of the foot end position of the swing leg in the W coordinate system and the pose of the B coordinate system relative to the W coordinate system;
(20) determining the expected angle value of the driving joint of the swing leg according to the expected position value of the foot end relative to the B coordinate system;
(21) controlling the joint position according to the expected value and the measured value of the swing leg driving joint, and controlling the swing leg driving joint to move;
(22) according to the angle measurement value of the swing leg joint, obtaining the position measurement value of the foot end of the swing leg relative to the B coordinate system;
(23) determining the position of the foot end of the swing leg relative to the W coordinate system according to the pose of the B coordinate system relative to the W coordinate system and the position of the foot end of the swing leg relative to the B coordinate system;
(24) detecting whether the foot end of the swing leg is in contact with the ground or not;
(25) if the swing legs are not in contact with the ground, turning to the step (24); if the swing leg is contacted with the ground, the next step is carried out;
(26) and (3) switching all the swing legs and the support legs according to a swing leg sequence or a support leg and swing leg switching signal of the motion plan, returning to the step 2, determining new support legs and swing legs, and continuing to perform the steps 3-26.
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