蛇形机器人的转弯和侧移运动研究

STUDY ON TURNING AND SIDEWISE MOTION OF A SNAKE-LIKE ROBOT

介绍了沈阳自动化研究所研制的蛇形机器人机械结构和控制结构。在分析蛇形曲线的基础上,提出幅值调整法、相位调整法和侧移调整法三种新方法,来处理蛇形机器人侧向滑动带来的方位偏转和完成蛇形机器人自主转弯控制,并给出几种方法的量化关系,建立动力学仿真模型进行了运动仿真。幅值调整法虽然使蛇形机器人转弯角度受到限制但却保证了运动的连续性和稳定性。相位调整法能够使蛇形机器人准确地完成转弯运动。侧移调整法能够实现蛇形机器人前进过程中的侧向位置调整,同时保证运动方向的准确性。将上述方法应用到蛇形机器人的控制中,用仿真和试验验证了以上方法的有效性。

The mechanism and control system of the SIA snake-like robot is firstly introduced. To make the snake-like robot perform the turning motion and compensate the sideslip and the orientation errors of the robot, an amplitude modulation method and a phase modulation method are proposed based on analysis of the serpenoid curve. The sidewise motion of the robot can also be generated by rewriting the amplitude modulation method. The amplitude modulation method with limitation of turning angle guarantees the continuity and stability of locomotion. The phase modulation method enables the snake-like robot to turn with an exact angle. The sidewise motion keeps the snake-like robot in its orientation to modulate its position. Computer simulations and experimental tests are performed to show the validity of the proposed methods.