自平衡自行车机器人的运动学分析

针对一种自行车机器人进行了运动学分析，得到了自行车机器人横滚角度与倾倒角度和驱动速度之间的函数关系。从理论上给出了能够调整机器人稳定所需要的驱动速度的下界。只要驱动速度高于此临界值，就能够通过车把保持车体平衡。计算机仿真结果表明，当机器人具有不同横滚角度和车把转角的姿态时，要将其调整回平衡态所需的驱动速度处于以该临界值为下限的一个区间。基于这种运动学关系进行了自行车机器人的运动控制实验。通过将横滚角度理论计算值与自行车机器人的实验数据进行对比，发现这两者是基本一致的。从而通过实验验证了所提出的上述运动学分析的正确性。

Kinemics Analysis for a Self-Balancing Bicycle Robot

The kinemics analysis of a kind of bicycle robot is presented in the paper. And the function relationship among robot rolling angle, drive speed and steering angle could be expressed with a three-dimensional surface in an X-Y-Z coordinate. The lower bound of the drive speed which is needed to balance the robot is presented theoretically. The goal of balancing the robot could be achieved by the means of tuning the steering angle in condition of the drive speed is higher than the critical value. The computer simulation results show that the drive speed belongs to the interval which has the critical value as the lower bound when the robot has different rolling angle and steering angle. Computer simulation verified the validity of the kinemics model. The real bicycle robot control experiments were performed based on the kinemics analysis. It is found that the theoretical result is consistent with the experiment data by comparing them. Then the validity of the kinemics analysis is testified by experiments.