摘要
为了提高轮式机器人控制的稳定性,提出基于稳态跟踪识别的轮式机器人的末端位姿测量与误差补偿控制方法,构建轮式机器人弹性连杆机构的动力学模型,在给定的加速度约束下进行轮式机器人弹性连杆机构的参数辨识,在机器人的运动平面内采用标准卡尔曼滤波模型进行运动姿态参数融合处理,根据轮式机器人的末端位姿进行参数自适应调节,采用比例-微分控制模型进行机器人的末端位姿测量与误差补偿控制,采用多步迭代方法实现轮式机器人的轨迹跟踪和位姿测量,提高机器人的位姿精度.仿真结果表明,采用该方法进行轮式机器人的末端位姿测量的准确性较高,误差补偿控制能力较好,具有较好的稳健性和鲁棒性.
In order to improve the stability of wheel robot control,a method of end position and attitude measurement and error compensation control of wheeled robot based on steady-state tracking and recognition is proposed,and the dynamic model of elastic linkage mechanism of wheeled robot is constructed.The parameter identification of the elastic linkage mechanism of wheeled robot is carried out under the given acceleration constraint.In the motion plane of the robot,the standard Kalman filter model is used to process the fusion of the motion and attitude parameters.The parameters of the wheeled robot are adjusted adaptively according to the end position of the robot.The proportional-differential control model is used to measure the end position and control the error compensation of the robot.The trajectory tracking and pose measurement of wheeled robot are realized by using multi-step iterative method,and the accuracy of robot's position and pose is improved.The simulation results show that this method has higher accuracy,better error compensation control ability and better robustness in the measurement of the end position and pose of wheeled robot.
作者
陈晓生
CHEN Xiaosheng(Huali College,Guangdong University of Technology,Guangzhou 511325,China)
出处
《智能计算机与应用》
2019年第4期274-277,共4页
Intelligent Computer and Applications
关键词
轮式机器人
末端位姿测量
误差补偿
控制
wheeled robot
end position and pose measurement
error compensation
control
