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Research on Optimal Integrated Control of Omni-directional Mobile Vehicle by Novel Differential Drive and Steering Mechanism

新型差动驱动转向机构全向移动车辆优化集成控制研究

基本信息

批准号：
21360108
负责人：
TERASHIMA Kazuhiko
金额：
$ 11.98万
依托单位：
Toyohashi University of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2009
资助国家：
日本
起止时间：
2009 至 2011
项目状态：
已结题

项目摘要

Holonomic omnidirectional mobile robots are useful because of their high level of mobility in narrow or crowded areas, and omnidirectional robots equipped with normal tires are desired for their ability to surmount difference in level as well as their vibration suppression and ride comfort. A caster drive mechanism using normal tires has been developed to realize a holonomic omnidiredctional robot, but some problems has remain. In this research, we developed effective systems to control the caster-drive wheels of an omnidirectional mobile robot. We proposed a Differential-Drive Steering System(DDSS) using differential gearing to improve the operation ratio of motors. The DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show that the proposed system is effective for holonomic omnidirectional mobile robots. Furthermore, we developed both an intelligent power assist wheelchair for helper such that wheelchair robot adequately can adjust for the operator' s habit, and an semi-autonomous wheelchair using a novel intelligent haptic interface such as its haptic interface can teach the operator on the degree of danger. These achievements has been validated by not onlu theoretical analysis but also by real experiments, and demonstrated by a lot of exhibition held in many places of Japan. Thus, high evaluation has been obtained by many people.

完整全向移动的机器人是有用的，因为他们的高水平的移动性在狭窄或拥挤的区域，和全向机器人配备了正常的轮胎，希望他们的能力，克服水平差，以及他们的振动抑制和乘坐舒适性。为了实现完整的全方位机器人，研制了一种采用普通轮胎的脚轮驱动机构，但仍存在一些问题。在这项研究中，我们开发了有效的系统来控制全方位移动的机器人的脚轮驱动轮。提出了一种利用差速传动提高电动机运转率的差速驱动转向系统（DDSS）。DDSS通过两个电机有效地产生驱动和转向扭矩。仿真和实验结果表明，所提出的系统是有效的完整全向移动的机器人。此外，我们还开发了一种智能助力轮椅，以便轮椅机器人能够根据操作者的习惯进行适当调整，以及一种使用新型智能触觉接口（如其触觉接口）的半自主轮椅，可以教操作者了解危险程度。这些成果不仅得到了理论分析的验证，而且得到了真实的实验的验证，并在日本各地举办的大量展览中得到了展示。因此，得到了很多人的高度评价。