基于红外传感器的两轮桌面机器人设计实现  

Design and Implementation of Desktop Two Wheeled Robot Based on Infrared Sensors

作　　者：阮晓钢[1] 刘航[1] 武卫霞[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《控制工程》2011年第5期775-779,共5页Control Engineering of China

基　　金：国家"863计划"项目(2007AA04Z226);国家自然科学基金资助项目(60774077);北京市教委和北京市自然科学基金重点项目(KZ200810005002);北京市人才强教计划项目

摘　　要：为了验证红外传感器作为姿态检测的可行性,又能满足经济性要求,设计了一种基于红外传感器的两轮桌面式小型机器人WillBot-Ⅱ,此机器人通过红外传感器检测与地面之间的距离来达到姿态检测的目的,此种方法大大节约了传感器的成本,同时克服了零点漂移现象,能够有效准确地对姿态进行检测。首先介绍了机器人的系统构成,包括机械结构部分、电气结构部分和控制部分。使用牛顿力学方法对机器人进行了动力学建模,在建模过程中充分考虑系统中可能存在的不确定性及噪声,之后对机器人的数学模型进行了线性化处理,并建立了状态空间方程。用LQR方法对机器人分别进行了系统仿真和实物的控制,仿真结果和实物控制结果证明了机器人物理系统和控制方法的合理性与有效性。To verify the Feasibility of Attitude test based on Infrared Sensors and satisfy the economy requirement, this paper design adesktop two wheeled robot based on Infrared Sensors named WillBot-Ⅱ , This robot via infrared sensors to detect the distance between the ground to achieve the purpose of detecting attitude, this method greatly save the cost of the sensor, while overcoming the phenomenon of zero drift with effectively and accurately detection of the posture Firstly, introduce the configuration of the robot, including mechanical design , electrical design and control system. Secondly, establishment of dynamic model using Newtons mechanics method, fully taken into account in the modeling process that may exist in the system uncertainty and noise, linearization the model and establish its state-space equations. Due to the simulation of the system and experiment on the physical system of the robot using the LQR method, prove the rationality and validity of the physical system and control method of the robot.

关 键 词：两轮机器人 桌面机器人 红外传感器 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]