基于扩展雅可比矩阵的冗余液压驱动四足机器人运动控制

To solve the inverse kinematics problem of redundant hydraulic actuated quadruped robots, an motion control method of a redundant hydraulic actuated quadruped robot based on extended jacobian matrix is proposed. This method can not only solve the multi solutions problem of inverse kinematics caused by redundant degrees of freedom, but also make the contact angle of robot foot meet the requirements of friction cone to avoid foot sliding. Firstly, the velocity of foot end effector of robot can be obtained from the planned foot trajectory. On the basis of analysis of influence of contact angle on locomotion performance of quadruped robot, the extended jacobian matrix method can be derived based on the geometric relationship of robot leg. Then, the mapping relationship between joints' angular velocity and the velocity of the foot end effector is established. That's the solution of joint angles of quadruped robot. Secondly, comparative simulations between the traditional gradient projection method and the proposed extended jacobian matrix method are implemented in trot gait. The theoretical analysis and simulation results show that there exists an error accumulation in the gradient projection method, and the proposed extended jacobian matrix method has a better performance in real-time. Finally, the feasibility and effectiveness of proposed method is validated by experiments.