This paper provides an adaptive robust control strategy for foot trajectory following control of hexapod robot on basis of the Udwadia-Kalaba theory. In this paper, the foot trajectory following control problem of the hexapod robot is transformed into the problem of solving the system control constraint force on basis of the Udwadia-Kalaba theory. Compared with the traditional control strategy, linearization or approximations are not required by using the Udwadia-Kalaba theory for nonlinear system such as the hexapod robot. Due to modeling error, measurement error and the change of working state, the system may have non-ideal initial conditions, vibration interference and other uncertain factors during operation, which affect the control accuracy. An adaptive robust controller is designed for solving uncertainties. Meanwhile, the stability is analyzed by using the second method of Lyapunov function. Finally, the accuracy and stability of the control method proposed are verified by establishing the leg model of the hexapod robot and conducting simulation analysis. The simulation results show that the provided adaptive control process has faster error convergence speed and response speed compared with traditional PID control method.
In order to replace the climbing work of the first climbers of the transmission tower without safety ropes, a transmission tower climbing robot is designed in this paper. First of all, this paper designs the structure of the robot by imitating the silkworm crawling on the branches through the principle of bionics. On this basis, through the inverse kinetics solution method, under the premise of planning the gait of the robot first, the dynamic simulation analysis of the robot is carried out according to the gait, so as to obtain the torque required for each joint motion. At the same time, according to the simulation results, the experimental test of the robot is carried out. Experiments have shown that the robot can climb to the top of a 50 m high transmission tower in 70 min with a load of 10 kg. The research results show that the transmission tower robot can replace the manual climbing operation of the transmission tower, and the mechanization and intelligence of the high-altitude operation of the transmission tower is highly feasible.
This paper provides an adaptive robust control strategy for foot trajectory following control of hexapod robot on basis of the Udwadia-Kalaba theory. In this paper, the foot trajectory following control problem of the hexapod robot is transformed into the problem of solving the system control constraint force on basis of the Udwadia-Kalaba theory. Compared with the traditional control strategy, linearization or approximations are not required by using the Udwadia-Kalaba theory for nonlinear system such as the hexapod robot. Due to modeling error, measurement error and the change of working state, the system may have non-ideal initial conditions, vibration interference and other uncertain factors during operation, which affect the control accuracy. An adaptive robust controller is designed for solving uncertainties. Meanwhile, the stability is analyzed by using the second method of Lyapunov function. Finally, the accuracy and stability of the control method proposed are verified by establishing the leg model of the hexapod robot and conducting simulation analysis. The simulation results show that the provided adaptive control process has faster error convergence speed and response speed compared with traditional PID control method.
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