摘要
为了实现在有限空间内对机器人进行实时移动控制的目的,提出了一种结合差速控制和正交全向控制的设计方法。以老人服务机器人为平台,通过研究具有4组正交全向轮移动机构的运动特性,以ARM7微控制器为核心,结合速度传感器,实现了对机器人的移动控制。实验表明,该控制方法具有很好的实时性和精确度。在实际应用中,满足了老人服务机器人运动的实时性和高精度的要求。
In order to achieve the real-time control of mobile robot in the limited space,a combination of differential control and orthogonal omni-directional control method is provided.Based on the platform of robot for the elder,through the study of the motion characteristics of four orthogonal omni-directional wheels,ARM7 microcontroller was used as the controller,combined with the speed sensor,the control of the mobile robot is realized.The experiments show that this method has good real-time and accuracy characteristics.In practice,the requirements of real-time and high accuracy for the robot for elder are met.
出处
《测控技术》
CSCD
北大核心
2012年第1期48-51,56,共5页
Measurement & Control Technology
基金
中科院知识创新工程重要方向性项目(KGCX2-YW154)
江苏省产学研联合创新资金项目(BY2009119)
