基于正弦输入的球形机器人运动控制  

The Motion Control of Spherical Robot Based on Sinusoidal Input

作　　者：冯建闯[1] 战强[1] 刘增波[1] 

机构地区：[1]北京航空航天大学,北京100191

出　　处：《机电产品开发与创新》2012年第4期7-9,共3页Development & Innovation of Machinery & Electrical Products

摘　　要：球形移动机器人具有结构紧凑,动作灵敏,适合在缺少人为干预的恶劣环境中应用。由于球形移动机器人属于非完整约束系统,传统的运动控制理论在这种机器人上无法应用。论文首先介绍BHQ-1球形移动机器人机构和运动原理,其次根据欧拉角描述方法建立了球形机器人的运动学模型,并对输入量进行变换得到一个可用正弦输入进行控制的双链系统。最后利用正弦输入方法得到轨迹仿真图。Spherical mobile robot has the characteristics of compact structure and agile motion and is promising to he used in unmanned environment. The traditional motion control theory can＇t apply in spherical mobile robot as it＇s a kind of nonholonomic system. This paper firstly introduced the mechanism design and the movement principle of spherical mobile robot of BHQ-1. And then we establish kinematic model of the spherical robot based on Euler Angle, at the same time obtain the double chain system controlled by sinusoidal input through transforming input quantity. Finally the trajectory simulation results with the sinusoidal input are given.

关 键 词：球形移动机器人 非完整约束 欧拉角 正弦输入 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]