【摘要】 研制了一种带前摆臂结构的小型地面移动机器人,建立了该机器人的运动学模型,确定了该机器人驱动轮转角与机器人位姿间的关系,为小型地面移动机器人的控制系统的设计提供了理论依据。该机器人的控制系统采用上下位机控制方式实现了对机器人的遥控控制,即上位机为 PC 机,下位机采用单片机。采用流向控制标志位查询判断驱动信号的流向,使机器人移动载体、摆臂和摄像装置的驱动电机可以协调运动。对该机器人各机构的运动进行了仿真,并得到了机构匀速运动过程中的主驱动轴转角、摆臂转角及摄像头转角等3个主要机构的运动参数曲线,验证了机器人各机构的运动性能。更多还原

【Abstract】 A mobile mini-robot with a swing arm structure was developed and its kinematic model was established.The relation between the driving wheel angle of the robot and the position-posture of the robot was determined,providing a theoretic basis for design of the control system of mobile mini-robots.The control system of the robot adopts a two-level structure to control the robot in a remote area,specifically,taking a PC as the upper-end computer and a single chip microcomputer as the lower-end computer.It uses flow control flags to search and estimate the flow directions of driving signals,so the mobile carrier,swing ann and camera device of the robot can move in phase.The simulation experiments on the motion of the robotic mechanisms were carried out,and the key assembly kinematical parameter curves of primary driving-shaft angle.,swing arm angle and camera angle during the uniform motion were obtained,and the kinematic characteristics of the robot mechanisms were verified.更多还原