摘要
为了解决轮式机器人舞步运动建模复杂、调试时间长的问题,提出了一种基于有限状态自动机理论的双轮机器人舞步行为模型描述方法,并基于Matlab/Stateflow图形化的描述方法,实现了轮式机器人舞步行为的建模,设计了轮式机器人舞步行为的逻辑控制。仿真结果表明,构造的仿真模型可以模拟机器人舞步行为的实际过程。模块化的设计简洁清晰,设计与调试时间大幅度减少,成本降低,动作的可控性增强,该方法为轮式机器人舞步规划的实现提供了理论依据。
In order to solve the wheeled robot dance motion modeling complex, commissioning a long time problem, proposed one kind based on the finite state automata theory for wheeled robot dance behavior model description method, and based on the Matlab / Stateflow graphical description method, realizes the wheeled robot dance behavior modeling, design of the wheeled mobile robot behavior control logic. The simulation results show that the simulation model can be constructed, the actual process of simulated robots dance act. The modular design of concise and clear, design and debugging time is greatly reduced, cost is reduced, operation controllability enhancement, the method for wheeled robot dance planning can provide the theoretical basis.
出处
《机电一体化》
2012年第9期13-17,39,共6页
Mechatronics
基金
国家"863计划"项目(编号:2007AA042226)
国家自然科学基金项目(编号:61075110)
