The invention discloses a wheel-foot robot, a robot system, a motion control method and a motion control system, and the motion control system comprises a track publishing module which is used for converting the expected speed and position of a robot trunk into a state track; the predictive control module is used for constructing a model predictive control algorithm which takes the expected trajectory as input and takes the system state and the control input quantity as output, and optimizing the system state and the control input quantity in real time; the state estimation module is used for estimating the motion state of the robot by fusing the sensor data; and the whole body control module is used for constructing a multi-task control algorithm which takes the expected trajectory and the motion state as input and takes the joint torque, the joint speed and the joint position as output and has priorities or weights. According to the method, global prediction and optimization can be realized, the complexity of each optimization calculation can be effectively reduced, and the response speed and the real-time processing capability of a robot system are improved.
轮足机器人、机器人系统、运动控制方法及运动控制系统,所述运动控制系统包含轨迹发布模块,用于将机器人躯干的期望速度和位置转换为状态轨迹;预测控制模块,用于构建以期望轨迹为输入,系统状态和控制输入量为输出的模型预测控制算法,并实时优化系统状态和控制输入量;状态估计模块,用于通过融合传感器数据,估算机器人运动状态;全身控制模块,用于构建以期望轨迹和运动状态为输入,关节力矩、关节速度和关节位置为输出的带优先级或权重的多任务控制算法。本申请可实现全局预测和优化,能够有效减少每次优化计算的复杂度,提升机器人系统的响应速度和实时处理能力。
Wheel-foot robot, robot system, motion control method and motion control system
轮足机器人、机器人系统、运动控制方法及运动控制系统
2025-05-02
Patent
Electronic Resource
Chinese
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