Autonomous Control for an Omnidirectional Mobile Robot with the Orthogonal-Wheel Assembly
Autonomous Control for an Omnidirectional Mobile Robot with the Orthogonal-Wheel Assembly
复制标题
正交轮组件全向移动机器人的自主控制
DOI：
10.7210/jrsj.17.51
复制
发表时间：
1999
期刊：
影响因子：
--
通讯作者：
Y. Shiraishi
中科院分区：
文献类型：
--
作者：
Jun Tang;Keigo Watanabe;K. Kuribayashi;Y. Shiraishi
本文描述了一种具有三个正交轮组的完整全向移动的机器人及其高精度跟踪控制系统。我们首先分析了三种类型的机械结构的实现。然后，我们开发了一个全方位的移动的机器人使用侧轮组件，以获得更简单的控制系统。在前馈控制系统中的几个测试结果表明，移动的机器人具有理想的充分的灵活性和平稳的运动。为了实现基于模型信息的动态控制系统，描述了动力学模型及其分解的加速度控制系统。一组实际实验证明了该控制系统的有效性。
In this paper, we describe a holonomic omnidirectional mobile robot with three orthogonal-wheel assemblies and its high accurate tracking control system. We first analyze three types in the realization of mechanical structure. We then develop an omnidirectional mobile robot using the lateral wheel assembly to obtain the much simpler control system. Several test results in the feedforward control system indicated that the mobile robot had a desirable full mobility and smooth motion. In order to realize a dynamic control system based on the model information, the dynamic model and its resolved acceleration control system are described. The effectiveness of the control system is demonstrated by a set of practical experiments.