四轮驱动全向底盘的控制方法研究

Research on the Control Method of Four-wheel Driving Omnidirectional Chassis

摘要:

为提高机器人移动的灵活性和机动性,使机器人到任意位置均沿直线行走并改变姿态,需在传统的两轮驱动底盘上增加驱动轮,文章主要针对四轮驱动全向底盘的控制方法进行研究;文章对四轮驱动全向底盘进行运动学分析并建模,得到了控制系统传递函数,并进仿真验证；对四轮驱动全向底盘进行了动力学建模,分析了如何避免出现“打滑”现象；导航方式采用了经济、精度较高的全向码盘导航方式；控制上采用闭环控制,加入前置探测点和超前校正环节,并且考虑了实际过程中机体的加减速问题;实验结果表明,提出的控制方法可以使四轮驱动全向底盘实现预设功能,并且具有较高的控制精度,研究内容对机器人的灵活移动有着十分重要的意义。

Abstract:

In order to improve the flexibility and mobility of the robots, enabling them to walk along a straight line to any location and change the attitude at the same time, more driving omnidirectional wheels needed to be fixed on the chassis of robots. This paper mainly studied the control method of four-wheel driving omnidirectional chassis. By modeling and simulating on the kinematics of the four-wheel driving omnidirectional chassis, the transfer function of the control system was achieved. The navigation of the system was omnidirectional encoder navigation. The control system was the close-loop control system and the detecting points, leading correction links and the actual acceleration or deceleration had been considered. The experiments showed that the control method proposed by this paper could realize the function of reservation and had a high control precision. It's meaningful for the flexible movement of robots.