基于轮式机器人电机运动控制的轨迹推演模型  

Trajectory Deduction Model Based on Motor Motion Control of Wheeled Robot

作　　者：沈文婷 SHEN Wenting(Shanghai Robot Industrial Technology Research Institute,Shanghai 200063,China)

机构地区：[1]上海机器人产业技术研究院有限公司,上海200063

出　　处：《电机与控制应用》2020年第3期34-37,共4页Electric machines & control application

摘　　要：机器人技术的发展步伐在加入仿真环节之后得到了进一步提速。根据LabVIEW提供的应用场景和电机控制模型,设计了一种具有轨迹推演效果的算法模型。该模型依据轮式小车的左右轮电机速度,计算小车在应用场景的速度,然后通过世界坐标系的轨迹坐标来反映小车在应用场景的位置变化。该模型可以通过检测世界坐标系的轨迹变化,判断电机控制的效果,达到测试轮式机器人控制系统的目的。The development pace of therobot technology has been further accelerated with the help of model simulation.Based on the application scene and motor control model provided by LabVIEW,an algorithm model for robot trajectory deduction is designed.For a wheeled robot,according to the speeds of the left and right wheels,the model calculates the velocity of the robot in the application scene.Then the model reflects the position change of the robot in the application scene through the track coordinates in the world coordinate system.This model can assess the motor motion control effect and test the control system of wheeled robot by detecting the trajectory change in the world coordinate system.

关 键 词：轮式机器人 轨迹推演模型 电机运动控制 LABVIEW 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]