四轮全向机器人的运动控制  

Motion Control of Four-Wheel Omnidirectional Robot

作　　者：梁伟鄯 侯冰宇 LIANG Weishan;HOU Bingyu(School of Information Science and Engineering,Liuzhou Institute of Technology,Liuzhou 545616)

机构地区：[1]柳州工学院信息科学与工程学院,柳州545616

出　　处：《现代制造技术与装备》2023年第9期193-196,共4页Modern Manufacturing Technology and Equipment

基　　金：广西高校中青年教师科研基础能力提升项目“全向轮底盘的移动机器人路径规划与跟踪的研究”(2021KY1716)。

摘　　要：主要介绍一种自研的全向轮底盘和定位系统,运用正交码盘和陀螺仪,采用基于Bezier的曲线路径规划,融合梯形加减速和速度分解等算法,建立机器人的运动学方程。多次验证实验表明,该系统的控制精度较高,能在高速运动的同时精确到达指定位置。Omnidirectional wheeled robots stand out among a variety of robot types due to their excellent motion performance.This article mainly introduces a self-developed omnidirectional wheel chassis and positioning system.By using orthogonal code plates and gyroscopes,using Bezier curve path planning,and integrating algorithms such as trapezoidal acceleration and deceleration and velocity decomposition,the kinematic equations of the robot are established.After multiple experiments,it has been ensured that the control accuracy of the system can accurately reach the designated position while moving at high speed.

关 键 词：全向轮 BEZIER 曲线 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]