基于改进WLSSVR的视觉球形机器人的设计与建模  

Design and Modeling of A Vision Spherical Robot Based on Improved WLSSVR

作　　者：郭昱琛 黄卫华[1] 翟光耀 章政[1] 赵广营 GUO Yu-chen;HUANG Wei-hua;ZHAI Guang-yao;ZHANG Zheng;ZHAO Guang-ying(School of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学信息科学与工程学院,武汉430081

出　　处：《组合机床与自动化加工技术》2023年第5期27-31,35,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(61773298)。

摘　　要：为了提高球形机器人获取环境信息的可靠性与稳定性,设计并实现了一种具有球外视觉装置的球形机器人。基于所搭建球形机器人平台,使用拉格朗日方法建立其动力学模型并进行运动性能分析;针对球形机器人欠驱动、非线性等复杂特性导致难以建立其精确动力学模型问题,将泛化处理后的高斯核函数与多项式核函数进行组合,并采用PSO优化所设计组合核函数的参数,由此提出了一种基于改进加权最小二乘支持向量回归机的建模方法。所设计球形机器人具有灵活的球外视觉装置,提高了对外部环境的感知能力;并且基于球形机器人的输入输出数据建模,有效解决了难以建立球形机器人精确动力学模型的问题。仿真实验和实测实验证明了本文设计方法的可行性和有效性。In order to improve the reliability and stability of the spherical robot to obtain the environmental information,a spherical robot with extra-spherical vision device is designed and implemented.Based on the constructed spherical robot platform,the Lagrange method is used to establish its dynamic model and analyze its motion performance.On the nonlinear underactuated spherical robot,such as complex features lead to establish its accurate dynamics model,after will be treated as a generalization of the gaussian kernel function combination with polynomial kernel function,and uses the PSO to optimize the design of combination kernel function parameters,thus put forward a kind of based on the improved weighted least squares support vector regression machine modeling method.The spherical robot has a flexible extra-sphere vision device,which improves the perception ability of the external environment.Based on the input and output data modeling of the spherical robot,the problem that it is difficult to establish accurate dynamic model of the spherical robot is effectively solved.The feasibility and effectiveness of the design method are verified by simulation and actual test.

关 键 词：球形机器人 加权最小二乘支持向量回归机 组合核函数 动力学模型 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]