Design of Double Closed Loop Control Structure of Robot Yaw Moment Based on ZMP Controller
Aiming at the constraint effect of joint angular acceleration in the walking process of simulated robots,a yaw torque control method of simulated robots based on zero moment point(ZMP)controller was designed.HPR-2 robot and BRZ robot are selected to carry out yaw moment control experiments and the results show that,compared with HPR-2 robot,BRZ robot has larger mass and is constrained by the physical structure of the motor,and the design of ZMP control can effectively prevent the phenomenon of peak clipping.Compared with undesigned ZMP control,method 2 designed ZMP control has lower yaw moment,which can be controlled more effectively in the safe range and fully eliminate the influence caused by yaw moment.This research can improve the running stability of the simulated robot,show excellent control performance and practical application value.
artificial robotyaw momentjoint angular accelerationpoint of zero moment
万方数据
维普
