救援探测机器人越障能力研究  

Study on Capability of Obstacle Surmounting for Rescue Detecting Robot

作　　者：王川伟[1] 马宏伟[1] 马琨[1] 尚万峰[1] 董刚[1] 王耀欣 

机构地区：[1]西安科技大学,西安710054 [2]中亚管道有限公司,北京100007

出　　处：《煤炭技术》2018年第1期230-231,共2页Coal Technology

基　　金：陕西省教育厅项目(17JK0506);陕西省科技统筹创新工程计划项目(2013KTCL01-02);西安科技大学培育基金项目(2014026)

摘　　要：为适应煤矿井下复杂环境,实现机器人自主操作与控制,提出"场景集-动作规划集-电机控制集"的控制策略,以保证其具有较好的稳定性能和最佳的越障性能。对机器人摆臂姿态的变化分析,得到机器人有22种空间姿态变化组合形式;利用重心投影法制定了机器人机身最小失稳角度及最小失稳时间参数,以判定机器人的稳定性;根据机器人不同姿态变化情况表制定了控制策略,完成了越障实验,验证了机器人控制策略的正确性及可行性。In order to adapt to the complex environment in coal mine and realize autonomous operation and control, control strategies named scene-sets（SS）, action-planning-sets（APS） and motor-control-sets （MCS） were proposed. It could guarantee robot have capacity of good stability and better obstacle surmounting. From analyzing the attitude change of space of robot＇s swing arms, the robot＇s obstacle surmounting movements has 22 combination forms in its attitude change of space. Robot＇s stability was studied by the way of gravity-projection method, and the minimum unstable angle and minimum unstable time can be used to determine whether robot is stable. The control strategy was made according to the table of the attitude change of the robot, and robot elimed the step. The control strategy was verified correctness and feasibility in the test.

关 键 词：机器人 履带 越障 稳定性 重心 控制策略 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]