六足机器人运动控制系统设计与实现

硕士学位论文

六足机器人运动控制系统

设计与实现

DESIGN AND IMPLEMENTATION OF MOTION CONTROL SYSTEM OF

HEXAPOD ROBOT

刘德高

哈尔滨工业大学

2013年7月

国内图书分类号：TP302.8 学校代码：10213 国际图书分类号：681.5 密级：公开

工学硕士学位论文

六足机器人运动控制系统

设计与实现

硕士研究生：刘德高

导师：吴翔虎教授

申请学位：工学硕士

学科：计算机科学与技术

所在单位：计算机科学与技术学院

答辩日期：2013年7月

授予学位单位：哈尔滨工业大学

Classified Index: TP302.8

U.D.C: 681.5

Dissertation for the Master Degree in Engineering

DESIGN AND IMPLEMENTATION OF

MOTION CONTROL SYSTEM OF

HEXAPOD ROBOT

Candidate：Liu Degao

Supervisor：Prof.Wu Xianghu

Academic Degree Applied for：Master of Engineering Speciality：Computer Science and Technology Affiliation：School of Computer Science and

Technology

Date of Defence：July, 2013

Degree-Conferring-Institution：Harbin Institute of Technology

哈尔滨工业大学工学硕士学位论文

摘要

针对国内用于大负载物资运输的六足机器人运动控制系统缺乏的问题，设计并实现了一款具有很高实时性和可靠性的六足机器人运动控制系统。系统采用主从应答模式对三维力系统和单足控制系统进行控制，包含模式控制机制、步态规划控制机制和安全控制机制，采用高速率、高可靠性的CAN总线通信，使系统能完成六足机器人正常步态行走的控制任务和各步态间自由切换的控制任务，而且具有很强的安全性、可靠性和实时性。

从需求分析的角度阐述了六足机器人需要完成的功能，通过对运动控制系统运行环境的分析，结合系统需要满足的性能指标，详细阐述了运动控制系统为完成六足机器人行走控制任务应该具有的功能模块，以及各功能模块的具体任务。

运用自顶向下的设计思路，分析运动控制系统的内部设计，给出了系统的任务和中断划分，以及从运动控制系统同步机制设计、运动控制系统控制逻辑设计和运动控制系统通信设计三个方面，详细阐述了整个运动控制系统设计的原理和过程。

根据运动控制系统的设计，详细描述了系统各个模块的实现过程。同时，为了提高系统可靠性和实时性，对运动控制系统进行了一系列的测试，给出了测试的内容、环境和结论。针对测试中发现的问题，给出了相应的优化措施和优化后的运行效果。

系统充分考虑了六足机器人行走任务和行走环境的要求，能够满足正常行走的控制任务和步态自由切换的控制任务，具有很高的可靠性、实时性和安全性，对大负载运输的六足机器人顺利研制成功起到了一定推动作用，也使系统具有较高的应用价值。

关键字：运动控制系统；CAN；六足机器人；实时性；

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哈尔滨工业大学工学硕士学位论文

Abstract

In the paper, we design and implementation of a real-time and with high reliability hexapod robot motion control system in order to solve the problems in the domestic that lack of transportation of materials for large loads of six-legged robot motion control system. The system uses a master-slave answer mode to control the underlying subsystem, the system contains an internal model control mechanism, a sound gait planning central control mechanisms and security control mechanisms, internal communications system uses high-speed, high reliability of the CAN bus, only makes the system can complete the six-legged walking robot normal gait control tasks and switch between various gait control tasks, but also enables the system has a strong safety, practicality and a certain reliability and timeliness.

Firstly, from the perspective of the requirements analysis, This article elaborated hexapod robot needs to complete the function explained, Through the motion control system operating environment analysis, combined with motion control systems need to meet the performance indicators, elaborated motion control system for the completion of six-legged walking robot control tasks should have the function modules, as well as the specific tasks of each functional module.

Secondly, this article use of top-down design ideas, analyzing the internal design of the motion control system, gives the tasks and interrupt division of the whole system. Simultaneously, this article elaborates the entire motion control system design principles and processes from three aspects of the motion control system synchronization mechanism design, motion control system logic design and motion control system communication design.

According to the motion control system design, this paper describes in detail the various modules of the system implementation process. Meanwhile, in order to improve system reliability and real-time, on motion control system I conducted a series of tests, this paper presents the principles and results of each test. For the problems found in testing, this paper gives the corresponding optimization measures and optimizing the effect.

The system is based on six-legged robot walking tasks and walking environment specifically designed and implemented, not only to meet normal walking control tasks,

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