Leg compliance control of a hexapod robot based on improved adaptive control in different environments
来源期刊：中南大学学报(英文版)2015年第3期
论文作者：ZHU Ya-guang(朱雅光) JIN Bo(金波) 李伟
文章页码：904 - 913
Key words：hexapod robot; tip-point force; adaptive control; fuzzy control; adaptability
Abstract: Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.
ZHU Ya-guang(朱雅光), JIN Bo(金波), LI Wei(李伟)
(State Key Laboratory of Fluid Power Transmission and Control (Zhejiang University), Hangzhou 310027, China)
Abstract:Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.
Key words:hexapod robot; tip-point force; adaptive control; fuzzy control; adaptability
