一种解耦式主动脚轮全向移动机器人的标定方法  

A calibration method for omnidirectional mobile robot based on decoupled powered caster wheels

作　　者：邵兵兵 叶国云 郑天江[2] 李齐 许佳杰 孙晨阳 SHAO Bingbing;YE Guoyun;ZHENG Tianjiang;LI Qi;XU Jiajie;SUN Chenyang(Faculty of Electrical Engineering and Computer Science,Ningbo University,Ningbo 315211,China;Ningbo Institute of Materials Technology&Engineering,Chinese Academy of Sciences,Ningbo 315201,China;Ningbo Ruyi Co.,Ltd.,Ningbo 315600,China)

机构地区：[1]宁波大学信息科学与工程学院,浙江宁波315211 [2]中国科学院宁波材料技术与工程研究所,浙江宁波315201 [3]宁波如意股份有限公司,浙江宁波315600

出　　处：《宁波大学学报（理工版）》2023年第3期22-28,共7页Journal of Ningbo University：Natural Science and Engineering Edition

基　　金：国家自然科学基金(U1509202);浙江省自然科学基金(LD22E050007);宁波市“科技创新2025”重大专项(2018B10069,2021Z068,2021Z020);浙江省机器人与智能制造装备技术重点实验室(2015E10011).

摘　　要：由于机器人的加工制造和装配等因素引起的几何参数误差影响了运动学模型的准确性,因此会同时降低运动控制和里程计精度.为提升全向移动机器人的运动精度,提出了一种针对基于解耦式主动脚轮的全向移动机器人的分步标定方法,该方法通过限制关节空间运动输入来简化运动学矩阵,并利用最小二乘法获得运动学参数的实际值,从而提升运动学模型的精度.搭建了基于解耦式主动脚轮的全向移动机器人实验平台,并通过仿真和实验对标定算法进行验证,实验结果显示在平面内三个自由度上速度控制精度和里程计精度均得到了显著提升,证明了标定算法的有效性.The accuracy of the kinematic model is affected by the error of geometric parameters caused by the machining and assembly of the robot,causing decline of the accuracy of the motion control and the odometry.In order to improve the motion accuracy of the omnidirectional mobile robot(OMR),a step-by-step calibration method is proposed for an omnidirectional mobile robot based on decoupled powered caster wheels(DPCW).This method simplifies the kinematic matrix by limiting the input of motion in joint space.Then the least squares method is used to obtain actual values of kinematic parameters.As a result,the precision of the kinematic model is improved.The experimental platform for the OMR based on DPCW is built,and the calibration algorithm is verified by simulation and experiment.The results show that the accuracies of both velocity control and odometry are significantly improved in three degrees of freedom in the plane,which proves the effectiveness of the calibration algorithm.

关 键 词：解耦式主动脚轮 运动学标定 分步标定 运动控制 里程计 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]