Motion control method of double-wheel differential type robot

Abstract

The invention relates to a motion control method of a double-wheel differential type robot, which is technically characterized in that a body coordinate system xoy is established in the world coordinate system XOY by taking the geometric center of a robot as the origin of coordinates; and motion control method for the double-wheel differential type robot is based on kinematics, aims at the most fundamental and most important two motions among all the motions of the wheeled robot, i.e. the in-situ rotating motion and the moving-to-fixed-point motion of the wheeled robot, and realizes the control of the two motions. All the complicated motions of the double-wheel differential type robot can be composed of the two fundamental motions. By reasonably improving the linear speed function in the control method based on the error ratio and simultaneously combining the chord tangent method, the invention realizes the integrated control on the moving-to-fixed-point motion of the robot. The integrated control greatly gives play to the respective advantages of the two methods, and avoids the effects of the respective defects on the robot motion. The invention also provides a resolution strategy corresponding to the cyclic oscillation phenomenon.

Description

technical field [0001] The invention relates to a motion control method for a two-wheel differential robot, in particular to a kinematics-based motion control method for a two-wheel differential robot, which can be used for any two-wheel differential that requires high precision and high stability. Motion control of mobile robots. Background technique [0002] Robot technology is a modern technology facing the future, and it is also a high-tech just like network technology, gene technology, communication technology, computer technology and other science and technology. As early as 1920, the word "ROBOT" began to appear in a science fiction script by Czech writer K. Kebik. In 1950, American writer I. Asimov proposed the concept of Robotics (Roboties) and put forward the so-called "Three Principles of Robotics". Today in the 21st century, it can be said that robots play an increasingly important role and influence on human beings in today's society. For example, in the milit...

AI Technical Summary

Problems solved by technology

The principle of this method is simple and intuitive, and it is easy to implement. However, in practical applications, due to the influence of physical inertia, the robot will have strong vibrations and cannot reach the target angle quickly and stably.

In the motion control of running at a fixed point, the chord cutting method and the error proportional control method are commonly used. Although these methods have relatively clear physical or geometric meanings, they are all due to lack of physical inertia or the actual application environment of the robot. and special considerations, so there are various problems in practical application

For example, if the string cut method is used to control, it is easy to make the robot's trajectory too long, thereby prolonging the movement time; while using the error proportional control method, it is easy to make the robot vibrate strongly near the target point, and cannot effectively locate the target point. The vibration phenomenon is also likely to cause motor failure, thereby reducing the service life of the motor

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