摘要
全方位移动机器人在二维空间具有完整性约束条件,能够灵活地任意方向移动,受到了广泛的关注。针对三轮全方位机器人的运动控制问题,建立其运动学模型。采用输入变换解耦及状态反馈法实现对坐标位置、方位角等位姿状态的控制,通过仿真实验验证了算法的有效性。最后给出了一种三轮全方位移动机器人硬件设计方案及控制算法软件实现,实际样机运动实验验证了控制方法的可行性与有效性。
Omni-directional mobile robot is widely concerned,because it has integrity constraints in two-dimensional space,it can move in any direction flexibly.Aiming at the motion control of the three omin-directional wheeled mobile robot,the kinematics model is established in this paper.Position and azimuth are controlled based on state feedback and input transformation decoupling.The effectiveness of the algorithm is verified by simulation experiments.Finally,the hardware design scheme and control algorithm software implementation of a three omni-directional wheel mobile robot are given.The feasibility and effectiveness of the control method are verified by the actual prototype motion experiment.
出处
《工业控制计算机》
2020年第3期77-80,共4页
Industrial Control Computer
基金
浙江省教育厅一般科研项目(Y201840645)
浙江省高等学校访问工程师校企合作项目(FG2018077)
浙江省科技厅公益技术研究项目(GG18F020012)
杭州职业技术学院科研项目(ky201926)。
