一种全方位移动机器人的控制方法

基于本所开发的轮式全方位移动机器人，给出了这一类机器人的运动学模型；依据矩阵条件数的概念，分析了运动学模型的不确定性对控制效果的影响；利用机器人具有的全方位移动能力，提出一种结构简单的控制方法，在机器人本体方向保持不变或依据某种要求变化的情形下，分别实现轨迹跟踪和位姿跟踪；仿真计算和实际实验结果证明了所提出的控制方法的有效性。

A control approach to an omnidirectional mobile robot

According to our omnidirectional-wheeled mobile robot this paper presents the kinematic model of this kind of omnidirectional mobile robot and analyses the influences of model uncertainty on the control results by the notion of matrix condition number. Making use of the robot omnidirectional locomotion, a control approach is proposed to solve the problems of stable trajectory tracking with the constant robot orientation and the problem of posture tracking when the robot orientation varies according to some specifications. The simulations and experiments are reported to validate the control approach.