Research on Vibration Isolation Control of Six wheel-legged Robot Based on Impedance Control
作者单位：Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology
会议名称：《第三十九届中国控制会议》
会议日期：2020年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
关 键 词：Electric parallel six wheel-legged robot Impedance control Adaptive algorithm Stewart structure
摘 要：The electric parallel six wheel-legged robot（EPSWLR） is characterized by heavy load and fast moving speed. But the body will shake and vibrate while passing through rough roads, which affects its stability. In order to solve this problem, the single-leg structure based on Stewart structure was equivalent to the impedance system composed of mass block, spring and damping in this paper. Due to changes in environmental forces and environmental impedance parameters caused by environmental changes, the traditional impedance control（IC） still causes force error at the foot end of robot and thus results in poor vibration isolation effect. Therefore, a new adaptive algorithm was proposed in this paper and added to IC algorithm to reduce the force error caused by environmental changes and thus improve the vibration isolation effect. In this paper, the characteristic equation of adaptive impedance control（AIC） algorithm was first obtained and the condition for system stability was calculated based on Routh-Hurwitz stability criterion. Finally, the stability of this system was verified. The simulation experiment combining MATLAB and Adams was designed and performed with EPSWLR. The effectiveness of AIC was proved by monitoring the changes in the force of single leg and the attitude of robot body.