一种环境探测球形移动机器人的运动控制

Motion Control of a Spherical Mobile Robot for Environment Exploration

球形移动机器人具有结构紧凑、运动灵活等特点,在环境探测等应用领域具有独特优势。介绍了一种新型的、带有双摄像头的环境探测球形移动机器人BHQ-2的结构与运动原理,并对其运动控制问题进行了研究。由于该球形机器人属于非完整约束系统,其不存在位置级的运动学逆解,因此从速度级上讨论了它的运动控制问题。基于旋量理论推导了该球形移动机器人的速度雅可比矩阵,采用广义逆的解法求得了它的速度逆解,并采用可控性李代数证明了BHQ-2球形移动机器人系统是满秩的,因此该机器人系统是完全非完整的并且是可控的。基于运动学速度逆解对BHQ-2球形移动机器人进行了直线和圆形运动轨迹的仿真和实验,仿真和实验结果验证了该球形机器人的可控性及速度逆解的正确性。

Spherical mobile robot is characterized by compact structure and agile motion,thus possessing unique advantages in the application fields such as environment exploration. This article introduces the structure and motion principle of BHQ-2,a newly designed spherical mobile robot equipped with two cameras,and discusses its kinematic motion control. Since this robot belongs to a kind of nonholonomic system,and has no inverse position resolution,its motion control problem at the velocity level is studied. Based on screw theory the Jacobian matrix of BHQ-2 is deduced and its inverse velocity resolution is obtained by means of generalized inversion. With control Lie algebra,the BHQ-2 robot system is proved to be full rank,therefore it is completely nonholonomic and controllable. Simulations and experiments of straight line trajectory and circular trajectory motions of BHQ-2 are done based on the inverse velocity resolution,and the results of simulations and experiments validate the controllability of the robot and the correctness of the inverse velocity resolution of the robot.