This article is based on the omnidirectional mobile manipulator with mecanum wheels built at Shanghai University. The article aims to find and analyze the parameters of kinematic equation of the omnidirectional system...This article is based on the omnidirectional mobile manipulator with mecanum wheels built at Shanghai University. The article aims to find and analyze the parameters of kinematic equation of the omnidirectional system which affects its motion accuracy. The method of solving the parameter errors involves three phases. The first step is equation operation to achieve the equation of relative errors. The second step is to obtain the displacement errors of the system via experiment and combine the error results with kinematic equation deduction to solve the geometric parameter errors in two methods. The third step is to verify its validity via comparing experiments. We can then revise its kinematics equation afterwards.展开更多
Based on Mecanum wheels and“Y”-shaped planetary wheels,we combine these two kinds of wheels’respective motion principle with their advantages to design a new type of four-wheeled robot:install the Mecanum wheels at...Based on Mecanum wheels and“Y”-shaped planetary wheels,we combine these two kinds of wheels’respective motion principle with their advantages to design a new type of four-wheeled robot:install the Mecanum wheels at the end of“Y”-shaped planetary wheel group.The wheel designed based on Mecanum wheels and“Y”-shaped planetary wheel can adapt to the complex terrain such as stairs,steps,and at the same time it can achieve the rotation of the whole body in a limited space.This paper studies the adaptability of the four-wheeled robot to the stairs,analyzing and calculating the parameters of the four-wheeled robot and the stairs.展开更多
The complete dynamics model of a four-Mecanum-wheeled robot considering mass eccentricity and friction uncertainty is derived using the Lagrange’s equation. Then based on the dynamics model, a nonlinear stable adapti...The complete dynamics model of a four-Mecanum-wheeled robot considering mass eccentricity and friction uncertainty is derived using the Lagrange’s equation. Then based on the dynamics model, a nonlinear stable adaptive control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term is included in the control law, and the parameter update law with σ-modification is considered for the uncertainty estimation. Computer simulations are conducted to illustrate the suggested control approach.展开更多
第七届全国大学生工程训练综合能力竞赛智能+赛道基于机器视觉的智能物流搬运机器人,对OpenMV4视觉模块进行研究,应用该模块进行二维码、不同颜色物料等多种目标的识别,信息经过模块上STM32F427微控制器的处理,与Arduino Mega 2560板通...第七届全国大学生工程训练综合能力竞赛智能+赛道基于机器视觉的智能物流搬运机器人,对OpenMV4视觉模块进行研究,应用该模块进行二维码、不同颜色物料等多种目标的识别,信息经过模块上STM32F427微控制器的处理,与Arduino Mega 2560板通信,机器人识别场地上的三个区域,用PID算法驱动麦克纳姆轮机器人的四个直流电机旋转并且定位机器人,通过PCA9685模块的I2C通信协议,发送PWM脉冲信号给机械臂上的四个关节舵机,使智能物流搬运机器人对场地上的物料进行自动搬运。实验证明其可以较为精确地完成各项搬运任务。展开更多
文摘This article is based on the omnidirectional mobile manipulator with mecanum wheels built at Shanghai University. The article aims to find and analyze the parameters of kinematic equation of the omnidirectional system which affects its motion accuracy. The method of solving the parameter errors involves three phases. The first step is equation operation to achieve the equation of relative errors. The second step is to obtain the displacement errors of the system via experiment and combine the error results with kinematic equation deduction to solve the geometric parameter errors in two methods. The third step is to verify its validity via comparing experiments. We can then revise its kinematics equation afterwards.
文摘Based on Mecanum wheels and“Y”-shaped planetary wheels,we combine these two kinds of wheels’respective motion principle with their advantages to design a new type of four-wheeled robot:install the Mecanum wheels at the end of“Y”-shaped planetary wheel group.The wheel designed based on Mecanum wheels and“Y”-shaped planetary wheel can adapt to the complex terrain such as stairs,steps,and at the same time it can achieve the rotation of the whole body in a limited space.This paper studies the adaptability of the four-wheeled robot to the stairs,analyzing and calculating the parameters of the four-wheeled robot and the stairs.
文摘The complete dynamics model of a four-Mecanum-wheeled robot considering mass eccentricity and friction uncertainty is derived using the Lagrange’s equation. Then based on the dynamics model, a nonlinear stable adaptive control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term is included in the control law, and the parameter update law with σ-modification is considered for the uncertainty estimation. Computer simulations are conducted to illustrate the suggested control approach.
文摘第七届全国大学生工程训练综合能力竞赛智能+赛道基于机器视觉的智能物流搬运机器人,对OpenMV4视觉模块进行研究,应用该模块进行二维码、不同颜色物料等多种目标的识别,信息经过模块上STM32F427微控制器的处理,与Arduino Mega 2560板通信,机器人识别场地上的三个区域,用PID算法驱动麦克纳姆轮机器人的四个直流电机旋转并且定位机器人,通过PCA9685模块的I2C通信协议,发送PWM脉冲信号给机械臂上的四个关节舵机,使智能物流搬运机器人对场地上的物料进行自动搬运。实验证明其可以较为精确地完成各项搬运任务。
