基于关节角度补偿的四足机器人运动轨迹精度优化控制方法

Kinematic Trajectory Accuracy Optimization Control Method of Quadruped Robot Based on Joint Angle Compensation

摘要: 当四足机器人运动时，关节误差会影响机器人运动的轨迹精度和控制的稳定性，这限制四足机器人在各个领域中的拓展应用。本文提出了一种基于关节角度补偿的四足机器人运动轨迹优化控制方法。该方法基于腿部的运动学误差模型得到关节输出角度的补偿量，通过提高腿部足端的位置精度优化躯干中心的运动轨迹精度。为了验证该方法的有效性，在仿真环境中测量激光四足机器人在关节角度补偿前后的躯干中心运动轨迹误差。实验结果表明，补偿后的机器人躯干中心运动轨迹误差比未补偿时的误差低90%。

Abstract: When the quadruped robot moves, the joint error will influence the trajectory accuracy and control stability of the robot, which limits the application of the quadruped robot in various fields. In this paper, an optimal control method of quadruped robot motion trajectory based on joint angle compensation is proposed. Based on the kinematics error model of the leg, the compensation amount of the joint output angle is obtained, and the motion trajectory accuracy of the trunk center is optimized by improving the position accuracy of the leg foot. In order to verify the effectiveness of this method, the trajectory error of the trunk center motion of the laser quadruped robot before and after joint angle compensation was measured in the simulation. The experimental results show that the trajectory error of the trunk center motion after compensation is 90% lower than that without compensation.