摘要
动态平衡机器人相对静态的轮式机器人更易于与人类环境实现交流,并具有更好的稳定性。针对能在地面任意方向运动且无转弯半径的单球驱动机器人,简要设计出其机械结构,根据拉格朗日方程推导出其完整的动力性模型。通过对机器人动力学模型线性化,并分解为独立的3个状态方程,设计带有比例积分控制器和线性二次最优控制器的多环控制方法。运用Simulink仿真模块进行仿真,证明了控制策略可以实现机器人的稳定控制和轨迹跟踪控制,并表现出较好的响应特性和稳健性。
Compared to statically-stable mobile robots, dynamic balance robot can be easier to communicate with the human environment, and has better stability. This paper designed the mechanical structure of the ballbot, which can move in any direction with zero turning radius, deduced its complete dynamic model based on the Lagrange equation. By linearizing the mathematical model, and decoupling it into three independent state equations, designed a two-loop controller. With simulation based on Simulink, the controller can make the robot stable and traceable for target, and showed a good response characteristics and robustness.
出处
《机电一体化》
2012年第11期13-19,83,共8页
Mechatronics
