摘要
差分驱动的机器人在诸如抗震救灾、野外探测任务中都有广泛的应用,但是欠驱动性质给运动控制带来了一定难度。为了解决这一难题,本文针对嵌入式机器人,设计了一种利用智能算法优化的运动控制律。仿真结果表明,利用这种优化后的控制律能够实现对预定参考轨迹的稳定且快速跟踪,从而完成机器人运动控制的任务。
Differentially driven robots are widely used in tasks such as earthquake relief and field exploration,but the underdrive nature brings certain difficulties to motion control.In order to solve this problem,this paper designs a motion control law optimized by intelligent algorithm for embedded robots.The simulation results show that the optimized control law can achieve stable and fast tracking of the predetermined reference trajectory,so as to complete the task of robot motion control.
作者
高兆申
Gao Zhao-shen(Taishan College of Science and Technology,Taian 271000,Shandong Province,China)
出处
《科学与信息化》
2024年第2期142-144,共3页
Technology and Information
关键词
嵌入式机器人
运动控制
智能算法
控制律
embedded robot
motion control
intelligent algorithm
control law
