Attitude stability control system of mobile robot mechanism based on nanosensor  

作　　者：Dongfang Song Hong Ji Guanfei Yin 

机构地区：[1]Henan Polytechnic,Zhengzhou,People’s Republic of China

出　　处：《Journal of Control and Decision》2023年第1期13-18,共6页控制与决策学报（英文）

基　　金：the Research and Practice of School-Enterprise Cooperative Education Model of Automobile Body Maintenance Technology Based on productive training base(No.2019JZ016);Henan Provincial Central Guiding local science and technology development fund support project in 2022-Application and promotion of unmanned plant protection vehicle technology based on intelligent network.

摘　　要：Aiming at the poor stability of attitude control of mobile robot mechanism, a kind of attitude stabilitycontrol system of mobile robot mechanism based on nanodisplacement sensor is designed.In the hardware part, a hydraulic drive is used to control the action posture of the mobile robot,a nanodisplacement sensor is used to collect the walking data of the robot, and serial communicationof the upper computer is used to convert the data into electrical signals to realise therobot posture control. In the software part, the mathematical coordinate system of robot walkingis constructed, and the rotating posture of the robot is controlled by the Euler angle. Theexperimental results show that the control performance of the designed system is stable andthe control precision is high, which can realise the attitude stabilisation control of the mobilerobot.

关 键 词：NANOSENSOR mobile robot attitude control nanopositioning system 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]