摘要
详细分析了履带式移动机器人的受力特点,提出了一种适宜进行控制器设计的履带移动机器人模型。根据履带式移动机器人动力学模型和运动学模型,设计了机器人的轨迹跟踪控制器。利用Lyapunov稳定判据证明控制器的全局稳定性。在控制器的设计中考虑了履带-地面作用,引入参数对其描述。考虑到机器人动力学约束,引入机器人速度、加速度控制策略以保证机器人运动平滑。仿真实验验证了该方法的有效性和全局收敛。
A kind of tracked mobile robot model that is suitable for the design of controller was proposed through analyzing the force characteristics of the tracked mobile robot. Based on the dynamic model and kinematic constraints of the tracked mobile robot, a trajectory tracking controller was designed. Stability of the rule was proved through the use of a Lyapunov function. Parameters were introduced to describe the track-soil interactions. Considering the dynamics of the mobile robot,the limited control strategy was introduced to guarantee the robot＇s smooth motion. The simulation results verify the effectiveness and global stability of this method.
出处
《计算机科学》
CSCD
北大核心
2009年第6期241-244,共4页
Computer Science
基金
国家863高技术发展项目(2006AA04Z238)
南京理工大学国防科技工业研究生创新基金(2007060007)资助
