Foot Trajectory Planning of Multi-locomotion Mobile Robot Based on EtherCAT Bus

摘要

Based on the leg-mode kinematics of multi-locomotion mobile robot, this paper designs a control system with high real-time performance based on EtherCAT bus, and studies the problem of foot trajectory planning. The hardware of the system consists of PC + soft controller, EtherCAT network, driver, servo motor and multi-locomotion mobile robot. The software uses LabWindows to develop master computer in PC and CODESYS to develop slave computer control program in soft controller. The timing interpolation method and sinusoidal acceleration and deceleration control algorithm are used to study the half-sinusoidal trajectory of the foot. From the experimental results, this trajectory planning method is effective on multi-locomotion mobile robot based on EtherCAT bus, which provides the basis for the gait planning research of multi-locomotion mobile robot.