四轮移动机器人运动各向相异性研究

Moving anisotropy of four wheeled mobile robot

针对移动机器人特殊结构导致的运动各向相异性问题,对移动机器人沿各个方向的速度、加速度等特性进行了研究。根据4个连续切换轮的排布方式及非完整系统的劳斯方程,对移动机器人的运动学方程及动力学方程进行了推导;建立了移动机器人在ADAMS软件中的模型,对移动机器人的速度相异性进行了仿真;建立了以工控机为核心的电气控制系统,利用三维加速度传感器MPU6050对移动机器人的加速度相异性进行了测试。研究结果表明:仿真结果与理论值完全一致,实验结果与理论值基本符合;该结果阐述了移动机器人速度、加速度随角度变化的关系。

Mming at the moving anisotropy caused by the special structure of the mobile robot, the velocity and acceleration characteristic of the mobile robot were studied in all directions. According to the arrangement of four alternate wheels and Routh equation of nonlinear system, the kinematics and dynamic equations of the mobile robot were derived. The model of mobile robot in ADAMS software was established. An electric control system based on industrial control computer was set up. The acceleration value of the mobile robot was acquired by the accel- eration sensor MPU6050. The result indicate that the simulation results are identical with the theoretical values by ADAMS software, and the experimental result accords with the values of theoretical calculation. The research results show the relationship between speed and acceleration of mobile robot with angle change.