多轴仓储机器人转向控制研究

Study of Steering Control for Multi- Axis Warehouse Robot

我国物流领域在核心仓储问题上对机器人应用的缺失已经成为制约该领域发展的重要原因之一。多轴仓储机器人采用电控电动式转向系统,基于阿克曼原理进行转向原理,建立简化的二自由度四轮模型,分析机器人运动微分方程。文章以质心零侧偏角为控制目标,对运动微分方程进行仿真,验证了运动模型和控制算法的正确性。

The absence of application in the key problem of domestic logistics—warehouse problem has become one of the most important reasons for restricting the development of the field.Electronically controlled electric steering system was used on the multi-axis warehouse robot,based on the Ackerman principle,the multi-axis steering principle was analyzed in the paper, the relationships between the steering angles for each axis and wheel were found out.The simplified 2DOF four-wheel model was built,and the differential equations of robot＇s motion were proposed.Aimed at zero mass-center side-slip angle, the accuracy of the differential equations and control strategy were validated by simulation.