| 一种全方位移动机器人的运动分析与控制实现 |
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| 引用本文： | 张翮,熊蓉,褚健,丁冠英.一种全方位移动机器人的运动分析与控制实现[J].浙江大学学报(自然科学版 ),2004,38(12):1650-1653,1672. |
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| 作者姓名： | 张翮 熊蓉 褚健 丁冠英 |
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| 作者单位： | 浙江大学工业控制技术国家重点实验室，浙江大学工业控制技术国家重点实验室，浙江大学工业控制技术国家重点实验室，浙江大学工业控制技术国家重点实验室 浙江杭州310027，浙江杭州310027，浙江杭州310027，浙江杭州310027 |
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| 摘 要： | 为达到在动态环境下,对机器人进行实时控制的目的,提出一种全方位移动机器人运动控制器的设计方法.以足球机器人Robocup作为实验平台,全方位移动机器人作为研究对象,通过研究具有四组正交轮组成的移动机构运动机理,在将机器人运动进行分析的基础上,以数字信号处理器(DSP)为核心,引入专家比例-积分-微分(PID)速度控制器,实现了对机器人的控制.实验结果表明,该设计方法有很好的实时性和一定的鲁棒性,在实际比赛中,实现了对全方位移动机器人的快速、实时、准确控制.
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| 关 键 词： | 全方位移动机器人 控制实现 |
| 文章编号： | 1008-973X(2004)12-1650-04 |
Motion analysis and control realization of omni-directional robot |
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| ZHANG He,XIONG Rong,CHU Jian,DING Guan-yingZhejiang University,Hangzhou ,China.Motion analysis and control realization of omni-directional robot[J].Journal of Zhejiang University(Engineering Science),2004,38(12):1650-1653,1672. |
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| Authors: | ZHANG He XIONG Rong CHU Jian DING Guan-yingZhejiang University Hangzhou China |
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| Affiliation: | ZHANG He,XIONG Rong,CHU Jian,DING Guan-yingZhejiang University,Hangzhou 310027,China) |
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| Abstract: | To real-time control omni-directional robot in dynamic environment,the designation of robot's motion controller was provided. The experiment was tested in Robocup platform and used omni-directional robot as research object. After analyzing the robot motion and the kinematics characteristics of the omni-directional robot with four orthogonal-wheels, the proportional-integral-derivative (PID) speed controller and feedback control were introduced. The motion control of the four-wheel omni-directional robot was implemented by using digital signal processing (DSP) as the kernel of controller, so that the robot motion was ensured. Experiments indicate that the controller is superior in real-time and robustness. In annual Robocup competition, the robot has satisfactory performance in this computationally intensive, dynamic environments. |
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| Keywords: | DSP |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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