摘要
全向轮机器人因不存在非完整性约束可向任意方向做直线运动而不需事先做旋转运动,可执行复杂的弧线运动。介绍了一种基于正交码盘与陀螺仪建立的全向轮底盘定位系统与基于Bezier曲线路径规划的机器人导航算法。以13年亚太机器人大赛国内选拔赛参赛机器人为平台,通过研究三轮全向轮底盘的运动特性,以DSP+FPGA为控制核心,结合外部传感器实现了对机器人的运动控制,使其能够跟随基于Bezier曲线规划的路径运动。实验表明,该套控制系统具有良好的运动控制精度,并在比赛应用中满足了高速、精确的底盘运动控制要求。
The omnidirectional wheel robot doesn＇t have non-integrity constraints so that it can move towards any direction without rotating itself beforehand,, and executes complicated paths easily. To achieve the flexible control of wheeled robot, a positioning system consisting of two orthogonal encoders and a gyro along with a navigation algorithm based on tracking planned Bezier curves path is introduced. Based on the platform of robot for ABU Robacon competition, through the research of the motion characteristics of three omnidirectional wheels, DSP and FPGA was used as the controller combined with other sensors to control the robot to track the planned paths based on Bezier curves. The experiments show that this system has good motion and accuracy characteristics and meets the control characteristics requirements in competition.
出处
《机械设计与制造》
北大核心
2014年第12期18-22,共5页
Machinery Design & Manufacture
基金
"高档数控机床与基础制造装备"科技重大专项(2011ZX04015-011-07)
