A trajectory tracking control method for quadruped robot based on limit value

摘要

During the walking process of the quadruped robot according to the foot trajectory, due to the rapid acceleration and deceleration process of the joint motor, the torque of the motor changes too sharply, which causes the problem of high-frequency vibration of the fuselage. Therefore, in order to solve this problem, the foot-end trajectory function of the quadruped robot is combined with the leg inverse kinematics function, the function between the rotation angle of each joint motor and time is obtained, then find the derivative of the motor rotation angle concerning time, and the limit value point is used as the control time node. The joint motor is controlled by the fuzzy PID method, which solves the problem of commutation torque impact under different loads and reduces the trajectory tracking error. The overshoot of the system response was reduced from 24.6% to 17.0%, the adjustment time was reduced by 45.2%, and the experimental conclusions were verified through actual tests.