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[CN 201611088178.1] foot end trajectory optimization method for reducing flow of hydraulic robot
[CN 201611088178.1] Title of Foot End Trajectory Optimization Method for Reducing Flow of Hydraulic Robot: Application Number of Foot End Trajectory Optimization Method for Reducing Flow of Hydraulic Robot: CN 201611088178.1 Applicant: Nanjing University of Aeronautics and Astronautics Application Date: 2016-12-1 Patent Type: Invention Application The present invention discloses a foot end trajectory optimization method for reducing flow of hydraulic robot, belonging to the field of robot design and control. Firstly, the foot end trajectory of the hydraulic robot is determined, and the displacement-time, velocity-time, leg and system flow-time in the direction of each motion component of the foot end trajectory are analyzed to obtain the relationship curve. Secondly, the nonlinear transformation function is constructed. Finally, the nonlinear transformation function is used to transform and correct each motion component of the foot end trajectory of the hydraulic robot to obtain the foot end trajectory after flow optimization. The essence of the invention optimization method is to optimize the leg swing speed of the swing phase of the hydraulic robot. It does not need to make any transformation to the support phase. No matter which foot end trajectory the robot uses to walk, this method can be used to transform the foot end trajectory of any hydraulic system that has yet to be optimized to achieve the purpose of optimizing the system flow. It has a wide application range, is not limited by the foot end trajectory of the hydraulic robot, and does not affect gait.
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