자율 이족 보행 로봇의 동역학 시뮬레이션과 슬라이딩 모드제어

Abstract

In this paper, based on the developed a human-sized biped walking robot(BWR) driven by a new actuator based on the ball screw which has high strength and high gear ratio, a BWR more D.O.F was designed to improve its performance by reducing and improving weight of four bar link actuator which is joint actuator.

The dynamics model of the developed BWR was investigated. In the modeling process, the robot dynamics are expressed in the joint coordinates using the Euler-Lagrange equation. Then, they are converted into the sliding joint coordinates and joint torques are expressed in the forces along the sliding direction of the ball screw.

The dynamics equation of the BWR is nonlinear and parameters of mass or inertial moment etc. are quite uncertain. To coordinate the BWR, the sliding-mode control was designed and applied for. Then trajectory control simulation was reformed to figure out suitability of control scheme.

Also by analyzing the load torque of the developed BWR actuator, a study on the validity of the motor for the joints of the 15 D.O.F autonomous BWR was performed.