一种独轮车机器人俯仰平衡运动的控制与实现

Control and Realization of Balanced Pitching Motion of a Unicycle Robot

摘要:

针对一台3驱动独轮车机器人系统,对其运动学和动力学特性进行了分析,给出了一种可实现其前后俯仰平衡运动的控制策略;通过对独轮车俯仰运动分析,建立了独轮车俯仰平衡运动的简化力学模型；采用部分反馈线性化的控制方法对车体俯仰角进行了线性化处理,以车体俯仰角和行走轮转角为输出设计了控制器；最后,通过数值仿真实验和物理样机实验验证了力学模型的可靠性和所设计的控制器的有效性。

Abstract:

Kinematics and dynamics of a unicycle robot with three actuators are analyzed and a strategy to achieve the robot's balanced pitching motion is presented. Firstly, in accordance with the simplified pitching model of the robot, a simplified dynamical model for pitching motion of the unicycle robot is established. Secondly, with regard of partial feedback linearization method a balanced pitching controller for this kind of motion is developed by taking the pitching angle and the rotating angle of the running wheel are regarded as outputs. At the end, the numerical simulation and prototype experiment are performed to verify the availability of the proposed controller.