基于滑动动力学模型的机器人轨迹跟踪控制

Trajectory Tracking Control System of Robot based on Slip Dynamics Model

针对三轮全向移动机器人在运动过程中产生的滑动现象,提出一种基于滑动动力学模型的轨迹跟踪控制方法。在三轮全向移动机器人运动学以及动力学建模的基础上,通过分析轮毂滚动方向和滚子滚动方向上的车轮接触摩擦力,提出了一种滑动动力学模型,并将该模型引入三轮全向移动机器人闭环运动控制系统,以提高其轨迹跟踪控制精度。在Matlab/Simulink平台上进行轨迹跟踪控制仿真。结果表明,基于滑动动力学模型的三轮全向移动机器人运动控制系统具有较好的稳定性和准确性。

For three-wheeled omni-directional mobile robots that slipping is almost inherently encountered in motion,one suitable trajectory tracking control system based on a improved dynamical model with slip is proposed based,which gives more accurate control result. The kinematics model and dynamics model for omni-directional mobile robots are built. By analyzing the wheel contact friction forces both in the wheel hub rolling direction and in the roller rolling direction,an amendatory dynamics model is presented. This model is introduced into the closed trajectory tracking control system to solve the trajectory tracking problem. The simulation of trajectory tracking control system is carried out on the platform of Matlab/Simulink. The results indicate that the trajectory tracking control system of three-wheeled omni-directional mobile robots based on the improved dynamical model with slip has good stability and accuracy.