基于CANopen协议的两轮差速移动机器人电动助力的实现  

Implementation of Electric Assist for Two-Wheel Differential Mobile Robots Based on CANopen Protocol

作　　者：张擎 陈睿 董荣刚 ZHANG Qing;CHEN Rui;DONG Ronggang(Siasun Robot Automation Co.,Ltd.,Shenyang,Liaoning 110000,China)

机构地区：[1]新松机器人自动化股份有限公司,辽宁沈阳110000

出　　处：《自动化应用》2024年第1期20-22,共3页Automation Application

摘　　要：针对两轮差速移动机器人在满载时质量大、手动移动不便的问题,设计了一种基于CANopen协议的推行助力控制方法。在1个控制周期内检测2个驱动轮码盘的值,计算车体的线速度和角速度,并根据计算结果以及外部开关输入结果判断给2个驱动轮发送力矩的大小和方向,从而实现电动助力的功能。该方法在公司的工业清洁机器人产品的应用效果显著。To address the problem that two-wheel differential mobile robots are heavy and inconvenient to move manually when loaded,a pushing assist control method based on the CANopen protocol is designed.Detect the values of two drive wheel coders within one control cycle,calculate the linear and angular velocities of the vehicle body,and determine the magnitude and direction of the torque sent to the two drive wheels based on the calculation results and external switch input results,thereby achieving the function of electric power assistance.The method has been applied to the company's industrial cleaning robot products with significant results.

关 键 词：两轮差速移动机器人 电动助力 CANOPEN协议 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]