一种具有跳跃能力的自平衡两轮机器人动力学建模与越障控制  

Dynamics Modeling and Obstacle-navigation Control of A Two-wheel Robot with Jumping Ability

作　　者：肖寒[1] 孙汉旭[1] 张延恒[1] 贾庆轩[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机电产品开发与创新》2013年第6期4-7,共4页Development & Innovation of Machinery & Electrical Products

基　　金：国家自然科学基金资助项目(51175048);教育部科技创新工程重大项目培育资金项目资助(708011);北京市教育委员会科技发展计划重点项目资助(KZ200810005002)

摘　　要：针对传统机器人越障能力不足的问题,结合本实验室设计的一种具有跳跃能力的自平衡两轮机器人,建立了机器人的动力学模型。分析了两轮机器人最大可控角的影响因素,建立了弹跳准备阶段的模糊滑模控制器,实现对机器人摆角与移动速度的控制。对机器人在起跳阶段做了动力学分析,对机器人在腾空阶段的运动做了动力学分析,同时根据障碍物外形,对其越障运动做了轨迹规划。最后,通过仿真与实验研究,验证了所建立的跳跃越障控制方法的有效性。For the problem of traditional robot in crossing obstacle, according to the self-balancing two-wheel robot with jumping ability designed by the lab, the dynamic model of the robot is built. The factors affecting the two-wheeled robot controllable maximum angle is analyzed, in the preparation stage, fuzzy sliding mode controller is established, the control of the moving speed and the swing angle of the robot is realized. The dynamic analysis of the robot in the take-off stage is finished, the trajectory planning of the crossing obstacle motion according to the obstacle shape is completed. At last, through simulation and experiment research, the effectiveness of jurnp obstacle-navigation control method is verified.

关 键 词：两轮机器人 跳跃越障 模糊滑模控制 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]