TY - GEN
T1 - Force Control Method for Pantograph Leg of Large-scale Heavy-duty Legged Robot
AU - Wang, Pengfei
AU - Zheng, Penglong
AU - Zha, Fusheng
AU - Dong, Yunlong
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/1/11
Y1 - 2019/1/11
N2 - In order to achieve excellent control of the legs of the Iegged robot and to avoid the high-impact problems in the kinematic control, this paper analyzes the pantograph leg of a large-scale heavy-duty Iegged robot and establishes its dynamic model using the Lagrange method. At the same time, through the improvement of the computed torque method, real-time compensation for frictions and calculational errors under different trajectories is realized, and the control problem of the plane six-link leg is finally solved. Simulation experiments verify the correctness of the modeling and the rationality and effectiveness of the control system. Improved control system enables tracking of different trajectories and achieves good tracking accuracy.
AB - In order to achieve excellent control of the legs of the Iegged robot and to avoid the high-impact problems in the kinematic control, this paper analyzes the pantograph leg of a large-scale heavy-duty Iegged robot and establishes its dynamic model using the Lagrange method. At the same time, through the improvement of the computed torque method, real-time compensation for frictions and calculational errors under different trajectories is realized, and the control problem of the plane six-link leg is finally solved. Simulation experiments verify the correctness of the modeling and the rationality and effectiveness of the control system. Improved control system enables tracking of different trajectories and achieves good tracking accuracy.
UR - https://www.scopus.com/pages/publications/85061478507
U2 - 10.1109/ICARM.2018.8610766
DO - 10.1109/ICARM.2018.8610766
M3 - 会议稿件
AN - SCOPUS:85061478507
T3 - ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
SP - 24
EP - 29
BT - ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018
Y2 - 18 July 2018 through 20 July 2018
ER -