Force Control Method for Pantograph Leg of Large-scale Heavy-duty Legged Robot

摘要

In order to achieve excellent control of the legs of the Iegged robot and to avoid the high-impact problems in the kinematic control, this paper analyzes the pantograph leg of a large-scale heavy-duty Iegged robot and establishes its dynamic model using the Lagrange method. At the same time, through the improvement of the computed torque method, real-time compensation for frictions and calculational errors under different trajectories is realized, and the control problem of the plane six-link leg is finally solved. Simulation experiments verify the correctness of the modeling and the rationality and effectiveness of the control system. Improved control system enables tracking of different trajectories and achieves good tracking accuracy.