分析了一种配有Mecanum轮移动机器人的全向控制方法.该方法有效的控制了Mecanum轮机器人平台, 对实验对象输入的导航参量设定值(X、Y方向的平移速度与转动角度)转化为机器人各轮的控制转速设定值, 并通过机器人本体仿真模块对电机以及机器人模型的仿真解算,得到机器人的实际位姿状况.再反解出移动机器人的实际导航参量,用于机器人的导航位姿闭环控制.
Abstract
This paper designs an method to implement the control of Mecanum wheel mobile robot. This method can transfer the navigation parameter setting value (velocity in X and Y axis direction and revolution angle) to controlling speed setting value of all wheels of robot, simulate the motor and robot model with the robot simulation module, and get the actual position and orientation status of robot. The actual navigation parameters can also be analyzed and used for navigation position and orientation close-loop control of robot.
关键词
Mecanum轮 /
移动机器人 /
软件仿真 /
闭环控制
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Key words
Mecanums wheel /
mobile robot /
software simulation /
close loop control
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中图分类号：
TP242.6
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参考文献
[1] 刘洲, 吴洪涛. Mecanum 四轮全方位移动机构运动分析与仿真[J].中国制造业信息化, 2011(5): 43-45.
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[3] Efendi J, Salih M, Rizon M, et al. Designing omni-directional mobile robot with Mecanum wheel[J]. American Journal of Applied Sciences, 2006, 3(5): 1831-1835.
[4] Diegel O, Badve A, Bright G, et al. Improved Mecanum wheel design for omni-directional robots[C]// IEEE International Conference on Robotics and Automation, Auckland, New Zealand, 2002: 117-121.
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[7] Gurzoni Jr G A. On the construction of a RoboCup small size league team[J]. Journal of the Brazilian Computer Society, 2011, 17(1): 69-82.
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脚注
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基金
国家自然科学基金(91024026);上海市科委与地方院校能力建设项目(10550500800)
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