Central pattern generator–based coupling control method for synchronously controlling the two-degrees-of-freedom robot

• Published in: Science progress (1916) Vol. 103; no. 1; pp. 1 - 16
• Main Authors: Fu, Qiang, Luo, Tianhong, Pan, Chunpeng, Wu, Guoguo
• Format: Journal Article
• Language: English
• Published: London, England Sage Publications, Ltd 01.01.2020; SAGE Publications; Sage Publications Ltd
• Subjects: Central pattern generator; Computer simulation; Coupling; Degrees of freedom; Joining; Oscillators; Rhythms; Robot control; Robots; Synchronism; synchronous control; Rayleigh oscillator; Two-degrees-of-freedom robot; central pattern generator
• ISSN: 0036-8504; 2047-7163
• DOI: 10.1177/0036850419877731

Synchronous control is a fundamental and significant problem for controlling a multi-joint robot. In this article, by applying two coupled Rayleigh oscillators as the referred central pattern generator models for the two joints of a two-degrees-of-freedom robot, the central pattern generator–based coupling control method is proposed for controlling the two-degrees-of-freedom robot's joints. On these bases, the co-simulation model of the two-degrees-of-freedom robot with the proposed central pattern generator–based coupling control method is established via ADAMS and MATLAB/Simulink, and the performance of the central pattern generator–based coupling control method on synchronizing two motions of two-degrees-of-freedom robot's joints is numerically simulated. Furthermore, the experimental setup of a two-degrees-of-freedom robot is established based on the real-time simulations system via the proposed central pattern generator–based coupling control method. And experiments are carried out on the established setup. Simulations and experimental results show that the phase of the controlled two-degrees-of-freedom robot's joints is mutual locked to other, and their motion pattern can be adjusted through the coupling parameter in the central pattern generator–based coupling control method. In conclusion, the proposed central pattern generator–based coupling control method can control the two-degrees-of-freedom robot's joints to produce the coordinated motions and adjust the rhythmic pattern of the two-degrees-of-freedom robot.