自动机器人抬轿时的平衡控制研究

针对2009年亚太大学生机器人比赛中的自动机器人和手动机器人配合抬轿上下坡保持轿子的水平和平衡的问题展开探讨，分析了抬轿过程中前后机器人如何对抬轿的高度进行调整，介绍了机器人抬轿的升降机构。根据机器人上下坡的特点及其路线分别采用串口位置控制和步进方式控制升降电机升降高度，以保持轿子平衡。在实验场地测试的结果表明：自动机器人能协调配合，能实现平稳上下坡。

Balance Control Research on Robotic Elevating System for Sedan Chair

Aiming at the 2009 Asia-Pacific Robot Competition, the discussion was extended of how to make the carrying pole keeping balance and how to adjusting the height of the carrying pole while the automatic and manual robots go through the ramp up and down. How to adjust height by back and front robots during elevating sedan chair was analyzed, and an elevating system of robot was introduced. According to the characteristics and routes of uphill and downhill of robots, the method of using separately serial port position control and stepping control was adopted for lifting machine by motor, so as to maintain the sedan chair keeping balance. After testing beyond the experimental field, the results show that the robot can work coordinately, and realize keeping balance while up and down the ramp.