爬壁机器人底盘结构全向移动自主控制设计

Autonomous Control Design of Omnidirectional Movement of Chassis Structure of Wall Climbing Robot

爬壁机器人全向移动时,由于平稳性因子较低,难以保障机器人在移动过程中的平稳性,且无法有效地控制机器人。针对目前存在的平稳性差和控制精度低的问题,提出爬壁机器人底盘结构全向移动自主控制设计方法,以爬壁机器人为例,研究全向移动机器人的底盘结构控制,在变换坐标系的基础上构建爬壁机器人的运动学模型;根据运动学模型为全向移动机器人的自主控制提供相关信息,提高控制的精准度。利用卡尔曼滤波器对爬壁机器人的姿态进行解算,对爬壁机器人运动的平稳性进行考虑,利用PID控制算法实现爬壁机器人底盘结构全向移动的自主控制。实验结果表明,所提方法控制的机器人平稳性好、控制精准度高。

When the wall climbing robot moves in all directions,it is difficult to guarantee the stability of the robot in the process of moving due to the low stability factor,and it is unable to effectively control the robot.Aiming at the problems of poor stability and low control accuracy,an omni-directional autonomous control design method for the chassis structure of a wall climbing ro⁃bot is proposed.Taking the wall climbing robot as an example,the chassis structure control of the omni-directional mobile robot is studied,and the kinematics model of the wall climbing robot is constructed based on the transformation of coordinate system.According to the kinematics model,it can provide relevant information for the autonomous control of omni-directional mobile ro⁃bot and improve the control accuracy.Kalman filter is used to solve the attitude of the wall climbing robot,and the stability of the wall climbing robot is considered.The PID control algorithm is used to realize the autonomous control of the omni-directional movement of the wall climbing robot chassis structure.The experimental results show that the robot controlled by the proposed method has good stability and high control accuracy.