论文标题
用脊柱接头和全动力学仿真环境建设建模四倍的机器人
Modeling of a Quadruped Robot with Spine Joints and Full-Dynamics Simulation Environment Construction
论文作者
论文摘要
本文介绍了旋转四足机器人的建模和模拟。进行了扩展的文献调查，并对四倍的机器人进行了脊柱关节研究。大多数研究人员在模拟中执行了简化的四足机器人模型。这项调查表明，需要全身旋转四足动物的模拟环境。首先，获得了活性旋转四足机器人的运动学和动力学建模。由于四倍的机器人是浮动式机器人，因此所有派生均相对于惯性框架。运动方程是通过拉格朗日方法获得的。仿真环境是在MATLAB/SIMULINK平台中构建的，考虑到其丰富的库，功能强大的求解器以及合适而有弹性的环境集成控制器。通过使用优化的MATLAB函数来提高模拟环境的计算速度。精确和准确的接触模型用于模拟环境中。我们预见到提供的全动力学模拟环境将有助于对四倍的机器人场进行进一步的脊柱联合研究。
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot models in their simulations. This survey reveals the need for the full-body spined quadruped simulation environment. First, the kinematics and dynamics modeling of the active spined quadruped robot is obtained. Since quadruped robots are floating-base robots, all derivations are performed with respect to an inertial frame. The motion equations are acquired by the Lagrangian approach. The simulation environment is constructed in the MATLAB/Simulink platform, considering its rich library, powerful solvers, and suitable and resilient environment in integrating controllers. The computation speed of the simulation environment is increased by using optimized MATLAB functions. Precise and accurate contact model is utilized in the simulation environment. We foreseen that the provided full-dynamics simulation environment will be helpful for further spine joint studies on the quadruped robot field.
