摘要
以移动机器人的轨迹控制为主要目标,研究了线性控制算法在机器人轨迹控制中的具体实现方法。论证了其可行性,分析了算法的稳定性约束条件,通过仿真分析了控制参数对运动轨迹的影响。将该算法应用到实际的机器人控制中,设计出了基于陀螺仪和光电编码器的温室移动机器人控制系统。
The main target is to study the tracks of mobile robot in greenhouse control in the paper, to research the realization of the linear trajectory control algorithms on robot controlling. We demonstrated its feasibility, the stability of the algorithm constraints. Through the simulation, we analyzed the impact for the trajectory under different control parameters, and applied the algorithm to the actual control of the robot, designed a mobile robot control system based on gyroscopes and photoelectric encoder.
