【作者】 王亮；

【导师】 段志信； 李海滨；

【作者基本信息】 内蒙古工业大学 ， 固体力学， 2007， 硕士

【摘要】 移动机器人的运动学建模是其实现路径规划和动力学控制的基础,是移动机器人研究的重要内容。从已有文献来看,针对轮式移动机器人运动学建模与控制的研究较多,而关于履带式移动机器人在这方面的研究却较少报道。为此,本文在内蒙古工业大学重点研究项目《履带—腿复合式移动机器人系统研究》的支持下,开展了履带式移动机器人的运动学建模与路径控制方面的研究工作。运动学建模是移动机器人路径控制的基础。为此,本文首先建立了一款已有履带式移动机器人样机的运动学模型,给出了机器人的两个轮子转速与车体指定关键点运动速度、车体转速间的函数关系。在移动机器人的具体实现方面,本文利用DSP控制器实现对机器人的左右两个电机进行独立控制。针对现有差动驱动式移动机器人的运动规划与控制中,基于广义雅可比矩阵的分解运动速度控制算法中存在的不足,提出了一种改进后的新算法。由于原算法中要在每个计算周期内需要求出广义雅可比矩阵的逆矩阵,这样不仅增大了算法的计算量,而且降低了算法的准确性;在改进算法中,将求解广义逆矩阵改为直接求逆计算,这样避免了求广义雅可比矩阵的不足。通过计算机仿真,表明了该算法同样可以实现对给定规划路径的有效逼近。更多还原

【Abstract】 Kinematics modeling of mobile robot is the base of achieving Path–Planning and dynamics’control. It is very important in the studying about mobile robot. According to the known literatures, the content about wheeling robot is more, but seldom about track robot. So, the paper develops study about kinematics modeling and path controlling of track robot, with the support of study item of the Inner Mongolia University Of Technology ,whose name is《study about track-leg compound mobile robot system》.Kinematics modeling is the base of path controlling for mobile robot. So, this article makes the Kinematics modeling of a track mobile robot and introduces the functional relationship between the rev of two wheels, the speed of crucial point and the rev of vehicle. In the real controlling, this article uses DSP controller to control two left-right electrometers independently. According to the disadvantage of the resolved motion rate control algorithm based on Generalized Jacobian Matrix in the Motion planning for differential drive mobile robot, here proposes an improved new algorithm. Because in the old the algorithm backward matrix of the Generalized Jacobian Matrix must be computed in every little period, it increases the calculative quantity and decreases accuracy of the algorithm; in the improved algorithm, we can compute the backward matrix directly instead of computing the backward matrix of the Generalized Jacobian Matrix and this avoids the disadvantage, which is in the old algorithm. Through cyber- emulation, it is shown that the improved algorithm can makes approaching to the decided path come true.更多还原