水下无人系统学报2025，Vol.33Issue(1)：124-130,7.DOI:10.11993/j.issn.2096-3920.2024-0087
基于逆运动学和足端轨迹优化的水下六足机器人控制系统设计
Control System for Underwater Hexapod Robot Based on Inverse Kinematics and Foot Trajectory Optimization
路纲泰 1杨柯 1陈徽1
作者信息
- 1. 中国计量大学机电工程学院,浙江杭州,310018
- 折叠
摘要
Abstract
The underwater hexapod robot has a strong load carrying ability and terrain adaptability,which is very suitable for near-earth observation and sampling in complex and changeable seabed environments.The control system is the key technology to realize the stable walking of underwater hexapod robots.In this paper,a control system design method for underwater hexapod robots based on inverse kinematics and foot trajectory optimization was proposed.The D-H coordinate system was established to derive the analytical relationship between the foot trajectory and the joint angle(positive kinematics).Through polynomial optimization,a smooth foot trajectory was planned,and then the corresponding joint angle(inverse kinematics)was solved.With PC104 as the main control unit,the foot trajectory optimization and inverse kinematics solving were conducted in the ROS2 environment,and the synchronous tracking of the joint motor was realized through EtherCAT technology.The control system suitable for underwater hexapod robots was designed.The typical movement patterns(straight and turning)of the underwater hexapod robot were verified in the pool.Experimental results show that the control system designed in this paper can realize the stable walking of the underwater hexapod robot.关键词
水下六足机器人/控制系统/逆运动学/足端轨迹优化Key words
underwater hexapod robot/control system/inverse kinematics/foot trajectory optimization分类
军事科技引用本文复制引用
路纲泰,杨柯,陈徽..基于逆运动学和足端轨迹优化的水下六足机器人控制系统设计[J].水下无人系统学报,2025,33(1):124-130,7.
