基于MATLAB Robotics Toolbox的四足机器人轨迹仿真与优化

doi:10.16180/j.cnki.issn1007-7820.2020.09.006

Abstract

Abstract:

The foot end trajectory of the bionic quadruped robot plays an important role in its movement. MATLAB Robotics Toolbox has been used for modeling, solving the forward and reverse solutions and trajectory planning. For a structure such as a quadruped robot with only 3 DOF at the end, there are certain defects in the solution and simulation by this tool. In this study, by exploring the underlying function of the toolbox, the reason for the problem is that the “ikine” function was not applicable. The toolbox is targeted for secondary development by replacing the "ikine" function with the inverse solution formula. At the same time, the problem of increasing the multi-solution of the inverse kinematics of the optimization algorithm is optimized according to the principle of minimum angle change. The real-time dynamic simulation results of the set trajectory shows that the walking process is naturally smooth, and the joint rotation characteristic curve is within a reasonable range, which verifies the effectiveness and rationality of the optimization algorithm.

Key words: bionic, quadruped robot, simulation, trajectory optimization, kinematics, robotics toolbox

CLC Number:

U461

CHEN Mingfang,ZHANG Kaixiang,CHEN Jiupeng,XIONG Bingzhou,LI Qi,YAO Guoyi,LI Pengyu. Simulation and Optimization of Quadruped Robot Trajectory Based on MATLAB Robotics Toolbox[J].Electronic Science and Technology, 2020, 33(9): 31-37.

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轨迹点	θ₂/rad	换算角度/(°)	θ₃/rad	换算角度/(°)
点1	-175.348 3	33.282 5	582.640 2	82.824 4
点2	-169.070 6	32.968 2	563.813 4	84.128 3
点3	-31.949 0	-30.542 9	208.954 5	92.211 0
点4	-63.332 7	-28.696 4	347.092 7	86.946 8
点5	0.529 8	30.355 3	36.281 6	98.782 6

轨迹点	θ₂ /rad	换算角度/(°)	θ₃/rad	换算角度/(°)
点1	-0.562 7	-32.240 3	1.696 0	97.173 6
点2	-0.557 4	-31.936 7	1.673 3	95.873 0
点3	0.567 9	32.538 3	-0.508 5	-29.134 9
点4	-0.500 9	-28.699 5	1.517 5	86.946 3
点5	-0.465 4	-26.665 5	1.417 5	81.216 8

轨迹点	θ₂ /rad	换算角度/(°)	θ₃/rad	换算角度/(°)
点1	-0.562 7	-32.240 3	1.696 0	97.173 6
点2	-0.557 4	-31.936 7	1.673 3	95.873 0
点3	-0.533 0	-30.538 7	1.609 4	92.211 8
点4	-0.500 9	-28.699 5	1.517 5	86.946 3
点5	-0.465 4	-26.665 5	1.417 5	81.216 8

Simulation and Optimization of Quadruped Robot Trajectory Based on MATLAB Robotics Toolbox

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