【作者】 黄彦文； 曹其新； 陈卫东； 何泽宇；

【Author】 Huang Yanwen Cao Qixin Chen Weidong He Zeyu Research Institute of Robotics, Shanghai JiaoTong University, Shanghai 200030

【机构】 上海交通大学机器人研究所；

【摘要】 本文分别讨论了驱动轮堵转与一般扰动下机器人的运动性能,并给出了相应的控制策略。对于堵转情况,提出了堵转与超调之间的关系式。并对堵转轮与随动轮采用减小期望速度的控制策略,基本解决了堵转对运动性能的影响;对于扰动输入的情况,用运动曲率来表示机器人偏离运动路径的大小,并采取PI调节器来调节期望速度的输入,达到纠正机器人运动方向的偏移的目的。更多还原

【Abstract】 This paper studies the robot’s movement capability analyzed based on the stall and disturbance problems, and puts forward the control strategy. The relation between the stall and overshoot of speed is found. A solving strategy of decrease of designed speed of the stall wheel and another following wheel’s speed is put forward. And the strategy is proved effective. As for the disturbance, the deviation of curvature between real motion direction and desires motion direction is adopted to denote the deviation degree. The PI regulator is adopted here to adjust the designed speed, which will correct the motion direction of the robot.更多还原