[1]冷春涛,曹其新.四轮全方位移动机器人各向相异性研究[J].智能系统学报,2007,2(3):45-51.
LENG Chun-tao,CAO Qi-xin.Anisotropy of 4wheeled omnidirectionally mobile robots[J].CAAI Transactions on Intelligent Systems,2007,2(3):45-51.
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LENG Chun-tao,CAO Qi-xin.Anisotropy of 4wheeled omnidirectionally mobile robots[J].CAAI Transactions on Intelligent Systems,2007,2(3):45-51.
四轮全方位移动机器人各向相异性研究
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
2
期数:
2007年第3期
页码:
45-51
栏目:
学术论文—人工智能基础
出版日期:
2007-06-25
- Title:
- Anisotropy of 4wheeled omnidirectionally mobile robots
- 文章编号:
- 1673-4785(2007)03-0045-00
- 分类号:
- TP24
- 文献标志码:
- A
- 摘要:
- 由于全方位轮的特殊构造，使得全方位移动机器人沿不同方向运动时具有的最大速度不同,以及在不同方向上的加速性能也不同，称之为各向相异性（anisotropy）.为了充分发挥全方位移动机器人的优越性，通过对4轮全方位移动机器人进行运动学、动力学建模，分析了机器人各向相异性，确定了轮系布置与最大速度曲线的相关规律，以及当机器人沿某一方向以一定加速度运动时，不同轮子上驱动电机所需提供的转矩，从而使得机器人加速运动时更好地避免轮子打滑.并且通过MatlabADAMS联合仿真以及实际实验，验证了分析结果的正确性.对机器人的各向相异性作了全面系统的研究，从而更清楚地表述了模型特性，为更好地控制全方位移动机器人提供了基础.
- Abstract:
- Due to the special structure of omnidirectional wheels, the maximum velocity that a robot can achieve is different when the robot moves in different directions, and acceleration in different directions also varies. This is called anisotropy. To understand issues with omnidirectionally mobile robots, kinematic and dynamic models were established and the effects of anisotropy discussed. The relationship between the arrangement of omnidirectional wheels and the curve of maximal velocity was then determined. In order to reduce the effects of slipping on results, values of torques were given on every wheel that was being driven while the robot moved in each direction with acceleration. Simulations by ADAMS and MATLAB, and our experiments, verify the effectiveness of the theory. This thorough study of the anisotropy of omnidirectionally mobile robots provides a foundation for optimization of their control.
- 参考文献/References:
-
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备注/Memo
收稿日期：2006-07-26.
基金项目：国家自然科学基金资助项目(60443007).
作者简介：冷春涛，男，1981年生，博士研究生，主要研究方向为机器人、智能控制. E-mail:ctleng@s jtu.edu.cn；曹其新，男，1960年生，教授，博士生导师，现任上海交通大学机器人研究所常务副所长.主要研究方向为机器视觉与模式识别、异构多机器人的协作与控制. E-mail:qxcao@sjtu.edu.cn.
更新日期/Last Update:
2009-05-07