基于Euler算法的全向轮机器人位姿检测  

Detecting and Positioning Omni-directional Wheel Robot Pose Based on Euler Algorithm

作　　者：许伦辉[1] 朱群强 胡发焕[1] 

机构地区：[1]江西理工大学电气工程及自动化学院

出　　处：《计算机测量与控制》2015年第7期2295-2297,2301,共4页Computer Measurement &Control

基　　金：国家自然科学基金(61263024)

摘　　要：现代机器人多借助于参照物定位,多受制于参照物;对于此问题,这里介绍了一种基于码盘和Euler算法定位的无参照物的全向轮机器人设计;利用全向轮的结构优势,设计了一款能实现在二维平面内无参照物移动定位的机器人;此机器人通过采集2个相对编码器和一个绝对编码器数据来获取机器人位姿信息,并接收上位机发送的坐标指令,用Euler算法计算机器人运动坐标,然后将机器人位姿信息与计算出来的坐标相对比,对机器人进行姿态矫正,最终达到给定坐标位置。Modern robots are positionned mostly by means of references,which subject to references.For this problem,This paper introduces the design of the omni-directional wheel robot without reference based on the Euler algorithm and encoder positioning,,Taking advantages of the distribution of the omni-directional wheel.we designed the robot that can rmobile and positioning without referencse in two- dimensional plane.The robot acquires data by two relatively encoder and an absolute encoder to get robot pose information.And it receives instructions that the upper machine sends and it uses Euler algorithm calculates robot motion coordinates.Then by comparing the calculated coordinates with robot pose information to correct the robot posture.Ultimately it achieves the goal that arrives at the position of the given coordinates.

关 键 词：相对编码器 绝对编码器 全向轮 Euler算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]