液压四足机器人的实时分散解耦控制

针对液压驱动四足机器人单腿协调性难以保证的问题,开发了一种实时分散解耦控制系统：基于PC-Based控制系统架构,在RTX环境下模块化了实时控制子任务,并对多任务的处理进行了实时调度,搭建出了机器人的实时分散控制系统框架；针对单腿系统设计了基于PID神经元网络的广义解耦控制算法,并将其嵌入到整体程序框架中,实现了多腿联动的分散解耦控制。物理样机实验表明开发的控制系统能够满足分散解耦控制算法的实时性要求,提高了四足机器人运动的协调性,进而保证其连续稳定地行走,具有一定的独创性与实用价值。

Real-time decentralized#$NBSdecoupling control for hydraulic quadruped robot

A real-time decentralizedSdecoupling control system is developed to guarantee the coordination of single leg movements for the hydraulic driving quadruped robot. Based on the PC-BasedScontrol frame, real-timeScontrolStasks are modularized in the RTX operating system, andStasks areSscheduled to build aSreal-timeSdistributed controlSsystemSfor the robot. Further more, a generalizedSdecoupling algorithm based on the PID Neural Network for the singer leg system is designed and embedded in real-time control program to realizeStheSdistributed decoupling controlSof multi legged linkage. In addition, the physical prototype experiment shows that the developed control system can not only satisfy the real-time need of the generalizedSdecoupling algorithm but also improve the coordination of leg movements to guarantee the walking stability of the robot. In a word, the introduced control method is of great originalitySand practical value.