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在球面运行的万向轮式移动机器人运动学模型的建立 总被引:6,自引:0,他引:6
爬壁机器人技术的不断发展,使研制可以吸附在大
型球面工作的轮式移动机器人成为可能.本文采用坐标变换方法,针对工作在球面的万向轮
式移动机器人建立运动学模型.其建模方法对于其它类型的在球面工作的轮式移动机器人也
同样适用. 相似文献
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提出一种并联六轮足移动机器人.该机器人设有多模式Stewart型腿结构,其负载能力大,集成了轮式运动和足式运动的优点,可实现足式、轮式、轮足复合式运动.首先,阐述了机器人设计思路,对电动并联六轮足机器人的硬件系统和控制系统进行设计.其次,针对足式运动模式,设计了一套完整的足式“三角”步态和稳定行走算法,该算法可降低足端与地面之间的垂直方向冲击,防止足式运动拖腿或打滑;针对轮式运动模式,设计并介绍了6轮协同控制和轮式协同转向原理;针对轮足复合式运动模式,介绍了变高度、变支撑面、变轮距、主动隔振控制原理,重点分析了主动隔振控制和变轮距控制,可实现主动隔振及姿态平稳控制,提高了机器人在崎岖颠簸地形下的轮足复合式运动的稳定性.最后,对电动并联六轮足机器人的足式、轮式、轮足复合式运动模式进行实验,实验结果验证了本文提出的并联六轮足移动机器人设计的可行性和各运动模式下驱动与控制算法的有效性. 相似文献
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轮式机器人是一个典型的非完整性系统。由于非线性和非完整特性,很难为移动机器人系统的轨迹跟踪建立一个合适的模型。介绍了一种轮式机器人滑模轨迹跟踪控制方法。滑模控制是一个鲁棒的控制方法,能渐近的按一条所期望的轨迹稳定移动机器人。以之为基础,描述了轮式机器人的动力学模型并在二维坐标下建立了运动学方程,根据运动学方程设计滑模控制器,该控制器使得机器人的位置误差收敛到零。 相似文献
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基于阿克曼原理的车式移动机器人运动学建模 总被引:4,自引:0,他引:4
基于阿克曼原理的轮式移动机器人运动学模型对于无人驾驶车辆的研究有着重要的意义.对轮式移动机器人的运动学特性进行了分析,建立了不考虑滑行、刹车等的轮式移动机器人的运动学模型.对该运动学模型引入了阿克曼约束,给出了描述机器人运动状态的转向角、航向角和转弯半径等物理量的数学公式.最后对该运动学模型进行仿真实验,验证了所建立的运动学模型的正确性,为进一步研究轮式移动机器人提供了理论分析的基础. 相似文献
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轮式移动机器人由于存在非完整性约束,其轨迹跟踪有一定挑战性.实际机器人运动中由于轮胎变形或其他原因,往往存在侧滑和滑移,对存在滑移的轮式移动机器人进行了研究,对其建立运动学模型,对存在滑移的轮式移动机器人的轨迹跟踪进行研究.基于Iyapunov函数,提出了轨迹跟踪控制算法,最后使用Matlab进行仿真,证明该控制算法具有快速,精确,全局稳定的良好特性. 相似文献
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Online robot calibration based on vision measurement 总被引:1,自引:0,他引:1
Robot calibration is a useful diagnostic method to improve positioning accuracy in robot production and maintenance. Unlike traditional calibration methods that require expensive equipment and complex steps, a vision-based online robot calibration method that only requires several reference images is presented in this paper. The method requires a camera that is rigidly attached to the robot end effector (EE), and a calibration board must be settled around the robot where the camera can see it. An efficient automatic approach to detect the corners from the images of the calibration board is proposed. The poses of the robot can be estimated from the detected corners. The kinematic parameters can be conducted automatically based on the known poses of the robot. Unlike in the existing self-calibration methods, the great advantage of this online self-calibration method is that the entire process of robot calibration is automatic and without any manual intervention, enabling the robot calibration to be completed online when the robot is working. Therefore, the proposed approach is particularly suitable for unknown environments, such as deep sea or outer space. In these high-temperature and/or high-pressure environments, the shapes of the robot links are easy to change. Thus, the robot kinematic parameters are changed by allowing the robot to grab objects with different qualities to verify the performance of the online robot calibration. Experimental studies on a GOOGOL GRB3016 robot show that the proposed method has high accuracy, convenience, and high efficiency. 相似文献
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针对现有的四足机器人对角小跑步态控制方法存在的机器人运动速度较慢、灵活性较差等问题,提出了一种基于虚拟模型的四足机器人对角小跑步态非线性控制方法。方法需要构建一个四足机器人模型,并在该模型的工作范围内建立一个平面直角坐标系,在不考虑机器人足端车轮滑动的情况下,将驱动四足机器人的运动方程转换成矩阵的形式,寻找有界输入平动线速度和转动角速度,使矩阵在其控制下产生的误差可以在大范围内保持稳定。求解该四足机器人在工作平面坐标系中姿态误差的微分方程,构造该微分方程的Lyapunov函数并对其求导,根据求导结果设计一个四足机器人驱动控制器,通过该驱动控制器实现对四足机器人的对角小跑步态非线性控制。仿真结果表明,所提方法能够在快速、灵活的情况下实现对四足机器人对角小跑步态的非线性控制,且鲁棒性较高,能够满足用户需求。 相似文献
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针对移动机器人在SLAM(即时定位与地图构建)过程中出现的定位失真问题,提出一种通过搭建地标数据库和位姿推导模型,修正机器人错误定位的方法。建图过程中,融合视觉信息与激光数据,得到语义激光,赋予地标语义标签并记录其在地图上的位置信息。导航过程中,当产生定位偏差时,结合多种位姿数据和相对位置关系,推算出机器人在地图上的实际位置,完成重定位。通过实验测试可知,该方法克服了现有机器人在实际室内动态环境下,单一地采用激光或视觉进行定位或重定位技术的缺点和不足,能有效解决“机器人位置漂移问题”。将机器人从当前位置劫持到另一位置,也能根据提出的算法迅速重定位,且定位精度高。 相似文献
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Satoshi Shiba Masafumi Uchida Akio Nozawa Hirotoshi Asano Hitoshi Onogaki Tota Mizuno Hideto Ide Syuichi Yokoyama 《Artificial Life and Robotics》2009,14(2):213-218
A modular robot can be built with a shape and function that matches the working environment. We developed a four-arm modular
robot system which can be configured in a planar structure. A learning mechanism is incorporated in each module constituting
the robot. We aim to control the overall shape of the robot by an accumulation of the autonomous actions resulting from the
individual learning functions. Considering that the overall shape of a modular robot depends on the learning conditions in
each module, this control method can be treated as a dispersion control learning method. The learning object is cooperative
motion between adjacent modules. The learning process proceeds based on Q-learning by trial and error. We confirmed the effectiveness
of the proposed technique by computer simulation. 相似文献
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Haptic-aided robot path planning based on virtual tele-operation 总被引:2,自引:0,他引:2
The motivation of this work arises from the fact that it is very difficult for an automatic path planning method, e.g. probabilistic roadmap (PRM) to generate an optimized path, and sometimes it even fails for an automatic method to find a collision-free path, due to failure of discovering critical robot configurations. However, these critical configurations might be plain to an operator. Therefore, the advantages of human's intuition are exploited to facilitate the robot path planning process in this research. The objective of this paper is to combine the advantages of human's intuition or experiences and the huge computational power of computers to develop a semi-automatic robot path planner that can generate an user-preferred collision-free robot path. In the path planning process, the user interaction is made easy by the development of a haptically controlled virtual robot. By virtual tele-robot manipulation, a user can define or modify critical robot configurations based on which collision-free robot path can be automatically generated. 相似文献
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The velocity obstacle (VO) method is one of local path generation method considering a velocity of obstacles. By dividing an available velocity region into collision and collision-free area, a robot can avoid collisions using the VO. However, if there are numerous obstacles near a robot, the robot will have very few velocity candidates. In this paper, a method to choose an optimal velocity by introducing a cost function about safety of the velocity, and the cost function consists of a pass-time and a clearance. By latticizing available velocity map of a robot, each velocity can be evaluated from the cost function and a robot can select better velocity among collision-free velocity candidates. A performance of introduced method is compared to other VO method using simulation, and experiments are conducted to verify the results of simulation. 相似文献
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以提升巡逻机器人执行巡逻任务能力为目的,提出基于5G通信技术的巡逻机器人定位误差自动补偿方法。该方法在巡逻机器人工作区域架设5G无线通信网络,并将AD7380型号位置传感器安装在巡逻机器人上,利用位置传感器获取巡逻机器人工作时的位置信息后,利用5G无线通信网络将其传输到用户PC端,得到巡逻机器人位置采样点数据;以该数据为基础,使用拉丁超立方采样方法描述巡逻机器人在其巡逻空间内的位置,得到巡逻机器人空间位置数据;再依据巡逻机器人空间位置数据,计算该机器人预设目标点误差矢量,并构建巡逻机器人定位误差补偿模型,利用该模型补偿巡逻机器人定位误差。实验结果表明:该方法可全面获取巡逻机器人在其巡逻空间内的位置信息,可有效且精准的对其定位误差进行自动补偿,使巡逻机器人定位误差保持在可允许范围内,应用效果较为显著。 相似文献