摘要
针对目前多轴轮式机器人转向控制不灵活这一问题,基于阿克曼转向控制定理,分别提出了基于D(机器人转向中心与第1轴的距离在机器人纵向轴线上的投影距离)和基于前后轮转角的转向控制方案。在此基础上,为便于控制,将第一轴或者第五轴左侧车轮转角和转向模式切换开关作为输入变量。并制作了五轴轮式机器人样机,分别利用STC12C5A60S2单片机和Lab VIEW开发了下位机和上位机控制系统,搭建了基于蓝牙的无线测控系统。进行了侧方位停车、并列停车、原地回转的试验验证,试验结果表明利用所提出的转向模式控制五轴轮式机器人,可以在狭小的空间里,实现非常灵活的行驶轨迹控制,满足机器人机身姿势的灵活控制。
For multi-axle wheeled robots have no flexible steering performance, based on Ackerman steering control theorems, two steering control schemes are proposed. These are based on D （the projection distance between robot steering center and the first axle in the longitudinal axis ）, and based on steering angles of front and rear wheels. On this basis, in order to favilitate control, the left wheel steering angle of the first or fifth axle and steering mode switch are made as input variables. A five-axle wheeled robot is made. The lower computer system and upper computer system are respectively developed with STC12CSA60S2 singlechip and LabVIEW software. The Bluetooth wireless monitoring and control systems are built. Side parking experiment, paralleling parking experiment, and spin experiment is conducted. The test results show that with the proposed steering control mode, the five-axle wheeled robot can achieve a very flexible running travk control in a small space, and meet flexible control of body posture.
出处
《机械设计与制造》
北大核心
2015年第3期39-42,共4页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51005128)
关键词
轮式机器人
全轮转向
多模式转向
蓝牙无线测控
Wheeled Robot
All-Wheel Steering
Multi-Mode Steering
Bluetooth Wireless Monitoring and Control
