前轮操舵驱动移动机器人前后轮横滑刚度测量

Sideslip Stiffness Measurement of the Front & Rear Wheels of Front Wheel Steered Driving Mobile Robot

通过对移动机器人进行平面运动动力学及运动学分析,建立平面运动移动机器人稳态圆运动动力学方程组;结合前轮驱动电机编码器、舵电机编码器以及机架陀螺仪分别采集到的前轮移动速度、舵角和机器人本体偏摆角速度,利用牛顿-拉夫森方法对动力学方程组进行求解,得到机器人前后轮的横滑刚度。研究结果为轮式移动机器人横滑特性及动力学研究提供了一种简单有效的手段,对路径跟踪研究也具有一定的参考价值。

Dynamic equations of mobile robot in planar uniform circular motion were established by the analysis of dynamics and kinematics of planar motion robot. With the linear velocity and steering angle of front wheel and yaw rate of robot frame acquired from encoders of driver motor, steering motor and gyro on robot frame individually, the dynamic equations were solved by the Newton- Laphson methods and the sideslip stiffness of the front and rear wheels of robot obtained as partition of the solution consequently. The study presents an effective method for sideslip property, dynamics and path tracking research on similar mobile robot configuration.