【摘要】 由于履带机器人在地面行走的过程中存在滑移现象,从而导致无法建立准确的履带机器人地面行走模型。基于此,提出一种履带滑移参数估计方法用于完善履带机器人建模。首先对履带机器人与地面作用动力学模型进行分析,在此基础上进行平面运动学建模,然后以运动学模型为依据设计一个具有李亚普诺夫稳定性的滑模观测器用于对滑移参数的估计,并且运用非支配分类粒子群优化算法对滑模观测器的增益进行优化,使得估计结果更加准确。仿真实验结果证明了该方法的有效性,为下一步的轨迹控制打下基础。更多还原

【Abstract】 Due to the slip phenomenon,it is impossible to build the accurate model of track robot.Focusing on this problem,a slip parameters estimation method was provided to improve the track model.First,the track robot and terrain interaction dynamic model was analyzed,and the kinematic mode was also established.Then a Lyapunov stable sliding mode observer for slip parameters was designed based on the kinematic model.Moreover,the gain of the observer was optimized through the non-dominant sort particle swarm optimization(NSPSO) in order to acquire more precise results.Simulation experiment verifies that this method is effective and also prepares for the trajectory control later.更多还原