四轮全方位移动机器人各向相异性研究  

Anisotropy of 4-wheeled omnidirectionally mobile robots

作　　者：冷春涛[1] 曹其新[1] 

机构地区：[1]上海交通大学机器人研究所,上海200030

出　　处：《智能系统学报》2007年第3期45-51,共7页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金资助项目(60443007)

摘　　要：由于全方位轮的特殊构造,使得全方位移动机器人沿不同方向运动时具有的最大速度不同,以及在不同方向上的加速性能也不同,称之为各向相异性(anisotropy).为了充分发挥全方位移动机器人的优越性,通过对4轮全方位移动机器人进行运动学、动力学建模,分析了机器人各向相异性,确定了轮系布置与最大速度曲线的相关规律,以及当机器人沿某一方向以一定加速度运动时,不同轮子上驱动电机所需提供的转矩,从而使得机器人加速运动时更好地避免轮子打滑.并且通过Matlab-ADAMS联合仿真以及实际实验,验证了分析结果的正确性.对机器人的各向相异性作了全面系统的研究,从而更清楚地表述了模型特性,为更好地控制全方位移动机器人提供了基础.Due to the special structure of omnidirectional wheels, the maximum velocity that a robot can achieve is different when the robot moves in different directions, and acceleration in different directions also varies. This is called anisotropy. To understand issues with omnidirectionally mobile robots, kinematic and dynamic models were established and the effects of anisotropy discussed. The relationship between the arrangement of omnidirectional wheels and the curve of maximal velocity was then determined. In order to reduce the effects of slipping on results, values of torques were given on every wheel that was being driven while the robot moved in each direction with acceleration. Simulations by ADAMS and MATLAB, and our experiments, verify the effectiveness of the theory. This thorough study of the anisotropy of omnidirectionally mobile robots provides a foundation for optimization of their control.

关 键 词：全方位移动机器人 全方位轮 相异性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]