Moveable robot movement high-precision control method

A technology of robot motion and control method, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as wheel failure, inconsistent robot motion trajectory tracking paths, and deterioration of control phenomena, to achieve improved accuracy, easy improvement and implementation. Effect

Inactive Publication Date: 2008-02-06
HANGZHOU DIANZI UNIV
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Problems solved by technology

However, due to external load interference and slipping, the wheel speed will fluctuate transiently. In this way, the wheel will not be able to maintain the set speed all the time, so the trajectory of the robot will be inconsistent with the tracking path planned by the upper layer.
Especially when the motor is accelerating or decelerating, the above control phenomenon will be further deteriorated due to the friction between the gears and the dynamic change of the load.

Method used

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Embodiment Construction

[0021] The high-precision control method of mobile robot motion uses high-speed digital processor TMS320LF2407A as the multi-axis servo motion controller. On the basis of not adding additional detection circuits, the control accuracy of mobile robot motion is improved through intelligent control technology. The specific implementation method is:

[0022] (1) Initialize the high-speed digital processor TMS320LF2407A, including control parameter initialization, wheel initial position detection, variable initialization, and system register initialization.

[0023] As a multi-axis servo motion controller, the high-speed digital processor TMS320LF2407A needs to complete multi-axis servo motion control. Therefore, for the control parameters of each motion control closed loop, parameter correction needs to be completed in advance to realize the performance optimization of each control closed loop. At the same time, parameters such as cross-coupling parameters and fuzzy logic input an...

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Abstract

The invention relates to a motion control method of high precision for a mobile robot. The prior control method can not control the motion precisely when wheels of the mobile robot generate instant fluctuation. The invention adopts a high speed digital processor TMS320LF2407A as a multi-axis servo motion controller. The detailed realization method is that initializing the processor; completing a control closed loop specific to the position and the speed of a single servo motor inside the processor; conducting kinematics modeling for the mobile robot and obtain the coordination relation between two wheels of the robot; using cross-coupling technology and fuzzy logic technology to obtain tuning control volume to modify speed control command and control line speed nu and angular speed omega. The invention does not need accurate control object model, compared with the previous single closed loop control, has practical characteristics and obvious progress, and based on the original system equipment, is easy to improve and realize.

Description

technical field [0001] The invention belongs to the field of automatic control, in particular to a high-precision control method for the motion of a mobile robot. Background technique [0002] In order to obtain multi-axis coordinated control, the traditional motion control method of wheeled mobile robots uses distributed control, and each control axis uses an independent high-performance servo controller, and the interaction between them is controlled by the upper-level motion planner through sensor feedback signals. to coordinate. However, good tracking control performance of a single axis cannot guarantee the accuracy of the path generated by multi-axis coordinated control. Although most controllers are designed under optimal conditions, when applied to actual systems, it is difficult to achieve the desired response due to model errors and disturbances. For a wheeled mobile robot with two-wheel differential drive, the traditional motion controller sets its reference spe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00
Inventor 张怀相戴国骏曾虹
Owner HANGZHOU DIANZI UNIV
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