摘要
为使Robocup中型足球机器人快速准确地跟踪目标,本文分析了机器人的运动学和动力学模型,设计了一套智能运动控制系统。机器人通过全景视觉系统测量目标位置,用零阶Sugeno型模糊控制器设定电机的转速,最后由电机伺服控制器进行电机速度电流双闭环控制。实验表明该控制系统满足机器人运动快速性和准确性的要求,成功应用于SCUT-II型足球机器人。
In order to track object quickly and accurately for Robocup middle size league soccer robot, the kinematics and dynamics model of the robot is analysed, then an intelligent motion control system is proposed. The object＇s position is estimated by omni-directional vision system. Then zero order Sugeno fuzzy controller is applied to calculate the setting values of motors＇ angular velocity. Finally, the motors＇ velocity and current are controlled by motor servo control systems. The experimental results demonstrate the proposed system satisfies robot＇s motion requirement for speediness and accuracy, and has been successfially applied to SCUT-Ⅱ soccer robot.
出处
《机电产品开发与创新》
2005年第5期4-5,12,共3页
Development & Innovation of Machinery & Electrical Products
基金
广东省工业攻关项目(2003C101007)
广东省自然科学基金博士基金项目(04300157)
关键词
足球机器人
运动控制
全景视觉
模糊控制
Soccer robot
Motion control
Omni-directional vision
Fuzzy control
