球形机器人准静态学分析及其路径规划方法

Quasistatic Analysis and Trajectory Design of Spherical Robot

针对现有球形机器人在动力学分析及控制系统设计时遇到的计算量大、实时性差的难点,提出将机器人的转向和向前驱动运动分开独立执行的设计原则。根据球体滚动中的实际情况,利用转速矢量的投影关系,建立了机器人的两输入、五输出的准静态学运动方程,当要求转速不高的情况下,可以对球形机器人进行基于运动学的控制。提出了一种在运动解耦方式下的点对点直线插补式路径规划方法,这种方法可以逐点逼近任意要求的轨迹,具有一定实际工程应用价值。

A design principle of the spherical robot, which carries out the turning and driving ahead motion independently, is proposed to deal with the complex calculation and bad real-time problem of present spherical robot in the process of the dynamic analysis and control system design. The quasis- tatic kinematic equations about two-input and five-output state variables are derived by using the pro- jection method of rotation speed vectors, which can be used to control the robot when the speeds of motors are lower. A new trajectory strategy called point-to-point method based on decoupling motion is developed. Those can be used to approximately realize any desired path.