一种全向运动球形机器人的方案设计和动力学分析
首发时间:2012-11-28
摘要:针对球型机器人普遍重心偏高与控制系统不易稳定的特性,分析了球形机器人运动与控制系统特性,设计一种具有新型结构的全向运动球型机器人,该机器人具有结构简单、重心靠下、全向运动、控制系统稳定特点,在此基础上对全向运动机器人模型进行结构方案和控制系统方案设计,并运用Lagrange-Routh方程建立了动力学、运动学模型,对机器人的运动学与动力学模型进行了详细的理论分析,得出机器人驱动力矩与位置姿态的控制关系,最后通过对机器人进行的直线与转向行走的仿真,验证了模型的正确性。
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Scheme design and dynamics analysis of an omnidirectional motion spherical robot
Abstract:To the high gravity and the less stable control system of the spherical robot . Analysis structural design and control systemthe of the spherical robot, design an omnidirectional spherical robot with the new structure. The robot has the characteristics of simple structure, lower center of gravity, full to the movement, the control system is stable. Based on the structure scheme and control scheme design of an omnidirectional motion spherical robot, we derived its dynamic and kinematics model by applying the Lagrange-Routh equations and a detailed theoretical analysis of the kinematics and dynamics of the robot model, to come up with the relationship of drive torque control and the position. Finally, simulation the robot with straight and steering walking experiment to ensure the correctness of the model.
Keywords: omnidirectional motion spherical robot kinematics dynamics
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