CN114153218A - Robot leg support algorithm - Google Patents
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- CN114153218A CN114153218A CN202111543221.XA CN202111543221A CN114153218A CN 114153218 A CN114153218 A CN 114153218A CN 202111543221 A CN202111543221 A CN 202111543221A CN 114153218 A CN114153218 A CN 114153218A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention provides a robot leg support algorithm, which takes the hinged position of a first joint and a second joint as the circle center, the distance between the hinged position of the first joint and the second joint and the hinged position of a second joint and a third joint as the radius, the tail end of the third joint as the circle center, and the distance between the hinged position of the second joint and the third joint and the tail end of the third joint as the radius to respectively establish an equation; judging whether a third joint can support the second joint by judging whether an intersection point exists between the two equations; if the two equations have no intersection point, the fact that the third joint cannot support the second joint when the tail end of the third joint moves to the first coordinate to be moved is shown, and then the robot cannot be supported by the mechanical legs; if more than one intersection point exists between the two equations, the fact that the third joint can support the second joint when the tail end of the third joint moves to the first coordinate to be moved is shown, and then the robot can be supported by the mechanical legs.
Description
Technical Field
The invention relates to a robot leg support control algorithm, in particular to a robot leg support algorithm.
Background
The hexapod robot has more redundant degrees of freedom in structure, can adapt to more complex terrains, can walk in the field with complex road conditions, and can complete transportation operation in a non-structural environment which cannot be completed by a crawler type or a wheel type, so that the hexapod robot has wide application prospect in many aspects. However, the joint control of the conventional hexapod robot has the great disadvantage that the swing track of each leg around each joint is an arc line in the advancing process, so that mutual repulsion is formed between the legs at two sides in the advancing process, and when a machine body is heavy, the damage to the joints is serious; in addition, in the falling process of each leg and foot end, if the leg and foot end is not perpendicular to the ground, the side slip is easily caused, and the stability of the machine body is affected.
In chinese application No. 201811396712.4, published as 2019.3.26, a hexapod robot support control algorithm is disclosed, which comprises: the method comprises five steps of robot coordinate system establishment, robot body coordinate system establishment, single walking leg coordinate system establishment, forward and reverse support solution and support control method; from the joints of the legs and the heels, the foot end track of the robot in the supporting state walking process is a straight line by the algorithm.
The legs of the hexapod robot are composed of joints with three degrees of freedom; which are a first joint, a second joint and a third joint, respectively; the second joint is located between the first joint and the third joint; the hinged parts of the joints of the mechanical legs are supporting points of the mechanical legs; if the supporting point of the left mechanical leg swings to the right by a large amplitude, the robot cannot be supported; if the supporting point of the right mechanical leg swings to the left by a large amplitude, the robot cannot be supported; but the hexapod robot does not consider the mechanical leg moving to the target point; the position of the left or right mechanical leg support point.
Disclosure of Invention
The invention provides a robot leg supporting algorithm, which is based on a coordinate to be moved and calculates the angle of each joint of a mechanical leg required to swing; meanwhile, a first coordinate system is established by taking the hinged part of the first joint and the second joint as an origin; distinguishing a left mechanical leg and a right mechanical leg along the advancing direction of the robot; respectively judging quadrants where the hinge joints of the left mechanical leg and the right mechanical leg are located; when the end part of the mechanical leg moves to the coordinate to be moved, the swing amplitude of each joint of the mechanical leg is too large, so that the situation that the robot cannot be supported is avoided.
In order to achieve the purpose, the technical scheme of the invention is as follows: a robot leg support algorithm is realized by a robot, wherein the robot comprises a chassis and more than two mechanical legs; the mechanical legs are symmetrically arranged on two sides of the chassis; the mechanical leg comprises a first joint, a second joint and a third joint; the first joint is connected with the chassis, the second joint is connected with the first joint, the third joint is connected with the second joint, the first joint drives the second joint and the third joint to move synchronously, the second joint drives the third joint to move synchronously, and the third joint independently moves relative to the second joint, including the following steps:
step (1), establishing a first coordinate system by taking a hinged part of a first joint and a second joint as an origin; presetting the distance L between the articulation of the first joint and the second joint and the articulation of the second joint and the third joint1(ii) a Presetting the distance L between the joint of the second joint and the third joint and the end of the third joint2。
Step (2), inputting a first coordinate to be moved; the first coordinate to be moved is the next moving target point at the end of the third joint.
Step (3) with the origin (x)1，y1) As a center of circle, L1As a radius, a first equation (x-x) is obtained1)2+(x-y1)2=L1 2(ii) a The first equation is the movable range of the first joint; with the first coordinate (x) to be moved2，y2) As a center of circle, L2For the radius, the second equation (x-x) is obtained2)2+(y-y2)2=L2 2(ii) a The second equation is the third joint range of motion.
Step (4), judging whether the movable range of the first joint and the movable range of the third joint have an intersection point, if not, judging that the robot cannot be supported by the mechanical leg when the tail end of the third joint moves to a first coordinate to be moved; if yes, the mechanical legs can support the robot when the tail end of the third joint is judged to move to the first coordinate to be moved.
In the method, an equation is respectively established by taking the hinged part of the first joint and the second joint as the circle center, the distance between the hinged part of the first joint and the second joint and the hinged part of the second joint and the third joint as the radius, the tail end of the third joint as the circle center, and the distance between the hinged part of the second joint and the third joint and the tail end of the third joint as the radius; judging whether a third joint can support the second joint by judging whether an intersection point exists between the two equations; if the two equations have no intersection point, the fact that the third joint cannot support the second joint when the tail end of the third joint moves to the first coordinate to be moved is shown, and then the robot cannot be supported by the mechanical legs; if more than one intersection point exists between the two equations, the fact that the third joint can support the second joint when the tail end of the third joint moves to the first coordinate to be moved is shown, and then the robot can be supported by the mechanical legs.
Further, in the step (4), if the movable range of the first joint and the movable range of the third joint have an intersection point; step (5) is performed.
Step (5), determining the intersection point as a second coordinate to be moved; the second coordinate to be moved is a coordinate where the second joint and the third joint are hinged when the end of the third joint moves to the first coordinate to be moved.
Step (5.1), judging whether the current mechanical leg belongs to a left mechanical leg or a right mechanical leg along the advancing direction of the robot; if the left mechanical leg is the left mechanical leg, the step (5.2) is carried out; if the right mechanical leg is the right mechanical leg, the step (5.3) is performed.
Step (5.2), judging the quadrant where the intersection point is located; if the position is the first quadrant or the fourth quadrant, when the hinged position of the second joint and the third joint moves to a second coordinate to be moved, the mechanical leg cannot support the robot; if the intersection point is in the second quadrant or the third quadrant, when the hinged position of the second joint and the third joint moves to a second coordinate to be moved, the robot can be supported by the mechanical legs.
Step (5.3), judging the quadrant where the intersection point is located; if the position is the second quadrant or the third quadrant, the robot cannot be supported by the mechanical legs when the hinged position of the second joint and the third joint moves to a second coordinate to be moved; if the position is the first quadrant or the fourth quadrant, when the hinged position of the second joint and the third joint moves to a second coordinate to be moved, the mechanical leg can support the robot.
In the method, a first coordinate system is established by taking the hinged part of the first joint and the second joint as an origin; distinguishing a left mechanical leg from a right mechanical leg along the advancing direction of the robot; limiting a second coordinate position to be moved of the left mechanical leg by using a second quadrant and a third quadrant; limiting a second coordinate position to be moved of the right mechanical leg by using the first quadrant and the fourth quadrant; therefore, the problem that the robot cannot be supported due to the fact that the left mechanical leg swings rightwards to a large extent is avoided; the problem that the robot cannot be supported due to the fact that the right mechanical leg swings leftwards to a large extent is also avoided; and judging whether the robot can be supported when the robot moves to the first coordinate to be moved or not through the second coordinate to be moved of the left mechanical leg and the second coordinate to be moved of the right mechanical leg.
Further, the step (5) further comprises: by the second coordinate (x) to be movedm，ym) And formula theta1=arc tan(|ym-y1|，|xm-x1I) calculating theta1The angle of (d); taking the parallel direction of the second joint and the first joint as a starting edge; the second joint swings in the positive direction; theta1The angle between the second joint and the first joint when the end of the third joint moves to the first coordinate to be moved.
Further, if two intersection points exist, the corresponding theta of different intersection points is calculated in step (5)1The angle value of (a); theta for reducing angle value1And taking the corresponding intersection point as a second coordinate to be moved.
The above method, by calculating the angle θ between the second joint and the first joint1(ii) a Through theta1
The distance between the second joint and the horizontal plane can be judged according to the size of the joint; theta1When the angle is small, the mechanical legs can move farther; thus canThe moving distance of the mechanical leg is increased.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic view of a robot embodying the present invention.
Fig. 3 is a schematic diagram of the connection between the left mechanical leg and the right mechanical leg and the chassis in the robot for implementing the invention.
Fig. 4 is a schematic diagram of the left mechanical leg moving to the first coordinate to be moved in the present invention.
Fig. 5 is a schematic diagram of the right mechanical leg moving to the first coordinate to be moved in the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-5; a robot leg support algorithm is realized by a robot, wherein the robot is a hexapod robot; the robot comprises a chassis 1 and more than two mechanical legs 2; in the embodiment, six mechanical legs 2 are arranged; wherein, the three mechanical legs 2 are arranged at one side of the chassis 1; the other three mechanical legs 2 are arranged on the other side of the chassis 1; the mechanical legs 2 on both sides of the chassis 1 are symmetrically arranged.
The mechanical leg 2 comprises a first joint 21, a second joint 22 and a third joint 23; the first joint 21 is connected with the chassis 1, the second joint 22 is connected with a second driving device (not shown in the figure), and the second joint 22 is connected with the first joint 21 through the second driving device; the third joint 23 is connected to a third driving device (not shown in the figure), and the third joint 23 is connected to the second joint 22 through the third driving device. The first joint 21 drives the second joint 22 and the third joint 23 to move synchronously, the second joint 22 drives the third joint 23 to move synchronously, and the third joint 23 moves independently relative to the second joint 22. The second driving device and the third driving device are steering engines.
A robot leg support algorithm comprising the steps of:
pre-storing corresponding information of a second joint swing angle and encoder data of a second driving device; prestoring third joint swing angle and third driving deviceCorresponding information of the encoder data; establishing a first coordinate system by taking the hinged part of the first joint and the second joint as an origin; presetting the distance L between the articulation of the first joint and the second joint and the articulation of the second joint and the third joint1(ii) a Presetting the distance L between the joint of the second joint and the third joint and the end of the third joint2。
Step (2), inputting a first coordinate to be moved; the first coordinate to be moved is the next moving target point at the end of the third joint.
Step (3) with the origin (x)1，y1) As a center of circle, L1As a radius, a first equation (x-x) is obtained1)2+(x-y1)2=L1 2(ii) a The first equation is the movable range of the first joint; with the first coordinate (x) to be moved2，y2) As a center of circle, L2For the radius, the second equation (x-x) is obtained2)2+(y-y2)2=L2 2(ii) a The second equation is the third joint range of motion.
Step (4), judging whether the movable range of the first joint and the movable range of the third joint have an intersection point, if not, judging that the robot cannot be supported by the mechanical leg when the tail end of the third joint moves to a first coordinate to be moved; then, step (2) is carried out to re-determine the first coordinate to be moved; if yes, judging that the robot can be supported by the mechanical legs when the tail end of the third joint moves to the first coordinate to be moved, and then performing the step (5).
Step (5), determining the intersection point as a second coordinate to be moved; the second to-be-moved coordinate is a coordinate where the second joint and the third joint are hinged when the tail end of the third joint moves to the first to-be-moved coordinate; by the second coordinate (x) to be movedm，ym) And formula theta1=arc tan(|ym-y1|，|xm-x1I) calculating theta1The angle of (d); taking the parallel direction of the second joint and the first joint as a starting edge; the second joint swings in the positive direction; theta1The angle between the second joint and the first joint when the end of the third joint moves to the first coordinate to be moved.
Step (5.1), judging whether the current mechanical leg belongs to a left mechanical leg or a right mechanical leg along the advancing direction of the robot; if the left mechanical leg is the left mechanical leg, the step (5.2) is carried out; if the right mechanical leg is the right mechanical leg, the step (5.3) is performed.
Step (5.2), judging the quadrant where the intersection point is located; if the position is the first quadrant or the fourth quadrant, when the hinged position of the second joint and the third joint moves to a second coordinate to be moved, the mechanical leg cannot support the robot; then, step (2) is carried out to determine the first coordinate to be moved again; if the intersection point is in the second quadrant or the third quadrant, when the hinged position of the second joint and the third joint moves to a second coordinate to be moved, the robot can be supported by the mechanical legs.
Step (5.3), judging the quadrant where the intersection point is located; if the coordinate is a second quadrant or a third quadrant, when the hinged part of the second joint and the third joint moves to a second coordinate to be moved, the robot cannot be supported by the mechanical legs, and then the step (2) is carried out to determine the first coordinate to be moved again; if the position is the first quadrant or the fourth quadrant, when the hinged position of the second joint and the third joint moves to a second coordinate to be moved, the mechanical leg can support the robot.
In the present embodiment, the method further includes; if the mechanical legs can support the robot in the step (5.2), performing a step (6); if the robot can be supported by the robot legs in step (5.3), step (6) is performed. (6) Judging the quadrant of the intersection point, and if the intersection point is in the first quadrant or the second quadrant, performing the step (7); and (5) if the intersection point is in the third quadrant or the fourth quadrant, performing the step (8).
Step (7) passing the formula theta2=180-arc tan(|ym-y1|，|xm-x1|)+θ1Calculating theta2The angle of (d); in this embodiment, the direction parallel to the third joint and the second joint is set as the starting side; the third joint swings downwards to be a positive direction; theta2The angle between the third joint and the second joint when the tail end of the third joint moves to the first coordinate to be moved; then, step (9) is performed.
Step (8) passing the formula theta2=180-arc tan(|ym-y1|，|xm-x1|)-θ1Calculating theta2The angle of (d); theta2The angle between the third joint and the second joint when the tail end of the third joint moves to the first coordinate to be moved; then, step (9) is performed.
Step (9) calculating the current angle between the second joint and the first joint and theta1The difference between them; the second driving device drives the second joint to swing so that the angle between the second joint and the first joint is theta1(ii) a Calculating a current angle between the third joint and the second joint and θ2The difference between them; the third driving device drives the third joint to swing; the angle between the third joint and the second joint is theta2(ii) a The third joint end is moved to the first coordinate to be moved.
In the method, an equation is respectively established by taking the hinged part of the first joint and the second joint as the circle center, the distance between the hinged part of the first joint and the second joint and the hinged part of the second joint and the third joint as the radius, the tail end of the third joint as the circle center, and the distance between the hinged part of the second joint and the third joint and the tail end of the third joint as the radius; judging whether a third joint can support the second joint by judging whether an intersection point exists between the two equations; if the two equations have no intersection point, the fact that the third joint cannot support the second joint when the tail end of the third joint moves to the first coordinate to be moved is shown, and then the robot cannot be supported by the mechanical legs; if more than one intersection point exists between the two equations, the fact that the third joint can support the second joint when the tail end of the third joint moves to the first coordinate to be moved is shown, and then the robot can be supported by the mechanical legs.
Meanwhile, a first coordinate system is established by taking the hinged part of the first joint and the second joint as an origin; distinguishing a left mechanical leg from a right mechanical leg along the advancing direction of the robot; limiting a second coordinate position to be moved of the left mechanical leg by using a second quadrant and a third quadrant; limiting a second coordinate position to be moved of the right mechanical leg by using the first quadrant and the fourth quadrant; therefore, the problem that the robot cannot be supported due to the fact that the left mechanical leg swings rightwards to a large extent is avoided; the problem that the robot cannot be supported due to the fact that the right mechanical leg swings leftwards to a large extent is also avoided; and judging whether the robot can be supported when the robot moves to the first coordinate to be moved or not through the second coordinate to be moved of the left mechanical leg and the second coordinate to be moved of the right mechanical leg.
By calculating the angle theta between the second joint and the first joint1Angle theta between the third joint and the second joint2(ii) a And then controls the second joint and the third joint to swing. Pre-storing corresponding information of encoder data; thus, the current angle between the second joint and the first joint and the current angle between the third joint and the second joint are obtained; then a second driving motor drives a second joint to rotate by a corresponding angle; the third driving motor drives the third joint to rotate by a corresponding angle; is convenient to control. This enables the lateral movement of the robot.
In the method, if two intersection points exist, the correspondence theta of different intersection points is respectively calculated in the steps (5) to (9)1The angle value of (a); theta for reducing angle value1And taking the corresponding intersection point as a second coordinate to be moved. The mechanical legs after moving support the robot stably.
Claims (4)
1. A robot leg support algorithm is realized by a robot, wherein the robot comprises a chassis and more than two mechanical legs; the mechanical legs are symmetrically arranged on two sides of the chassis; the mechanical leg comprises a first joint, a second joint and a third joint; first joint is connected with the chassis, and the second joint is connected with first joint, and the third joint is connected with the second joint, and first joint drives second joint and third joint synchronous motion, and the second joint drives third joint synchronous motion, and the relative second joint independent activity of third joint, its characterized in that: the method comprises the following steps:
step (1), establishing a first coordinate system by taking a hinged part of a first joint and a second joint as an origin; presetting the distance L between the articulation of the first joint and the second joint and the articulation of the second joint and the third joint1(ii) a Presetting the distance L between the joint of the second joint and the third joint and the end of the third joint2；
Step (2), inputting a first coordinate to be moved; the first coordinate to be moved is a next moving target point at the tail end of the third joint;
step (3) with the origin (x)1，y1) As a center of circle, L1As a radius, a first equation (x-x) is obtained1)2+(x-y1)2=L1 2(ii) a The first equation is the movable range of the first joint; with the first coordinate (x) to be moved2，y2) As a center of circle, L2For the radius, the second equation (x-x) is obtained2)2+(y-y2)2=L2 2(ii) a The second equation is a third joint movement range;
step (4), judging whether the movable range of the first joint and the movable range of the third joint have an intersection point, if not, judging that the robot cannot be supported by the mechanical leg when the tail end of the third joint moves to a first coordinate to be moved; if yes, the mechanical legs can support the robot when the tail end of the third joint is judged to move to the first coordinate to be moved.
2. A robot leg support algorithm according to claim 1, characterized by: in the step (4), if the movable range of the first joint and the movable range of the third joint have an intersection point; performing the step (5);
step (5), determining the intersection point as a second coordinate to be moved; the second to-be-moved coordinate is a coordinate where the second joint and the third joint are hinged when the tail end of the third joint moves to the first to-be-moved coordinate;
step (5.1), judging whether the current mechanical leg belongs to a left mechanical leg or a right mechanical leg along the advancing direction of the robot; if the left mechanical leg is the left mechanical leg, the step (5.2) is carried out; if the right mechanical leg is the right mechanical leg, the step (5.3) is carried out;
step (5.2), judging the quadrant where the intersection point is located; if the position is the first quadrant or the fourth quadrant, when the hinged position of the second joint and the third joint moves to a second coordinate to be moved, the mechanical leg cannot support the robot; if the intersection point is in the second quadrant or the third quadrant, the mechanical leg can support the robot when the hinged position of the second joint and the third joint moves to a second coordinate to be moved;
step (5.3), judging the quadrant where the intersection point is located; if the position is the second quadrant or the third quadrant, the robot cannot be supported by the mechanical legs when the hinged position of the second joint and the third joint moves to a second coordinate to be moved; if the position is the first quadrant or the fourth quadrant, when the hinged position of the second joint and the third joint moves to a second coordinate to be moved, the mechanical leg can support the robot.
3. A robot leg support algorithm according to claim 1, characterized by: the step (5) further comprises the following steps: by the second coordinate (x) to be movedm，ym) And formula theta1=arc tan(|ym-y1|，|xm-x1I) calculating theta1The angle of (d); taking the parallel direction of the second joint and the first joint as a starting edge; the second joint swings in the positive direction; theta1The angle between the second joint and the first joint when the end of the third joint moves to the first coordinate to be moved.
4. A robot leg support algorithm according to claim 3, characterized by: if two intersection points exist, calculating the corresponding theta of different intersection points in the step (5)1The angle value of (a); theta for reducing angle value1And taking the corresponding intersection point as a second coordinate to be moved.
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