| Popis: |
In this paper, six-legged insects bionic prototype, designed a six-legged robot to climb stairs and control systems. Master-slave control system design structure, the host platform to a control arm microcomputer core, the slave servo control system implemented motion control core. When detecting the complex environment of the stairs, the camera is used to detect the amplitude and position of the blurred edge of the stairs, and the distance between the stairs and the robot is measured by calculation. In the gait control, a triangular gait control algorithm is adopted. The 3D solid model was generated by CATIA 3D modeling software, and the six-legged robot’s straight walking gait and stair climbing gait analysis were carried out to verify the rationality of the robot structure and the feasibility of the motion. Experiments show that this control system has stable movement, strong adaptability and high use value. |
