Method for controlling driving and traction characteristics of leg-wheel robot
A technology of traction characteristics and control methods, applied in the field of automation
Inactive Publication Date: 2011-04-27
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
However, there is currently no control method for driving and traction characteristics that can effectively realize the motion control of the robot, so that the robot can minimize sliding during the motion process, improve motion ability, reduce energy consumption, and effectively complete the task.
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[0019] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0020] As shown in Figure 1, it is a schematic diagram of the structure of the wheel-legged robot involved in the present invention.
[0021] In the field of robotics, a robot system that has legs and wheels and can be driven independently is generally called a wheel-legged robot. Due to different application purposes, wheel-legged robots can have different forms. The wheel-legged robot shown in Figure 1(a) has a leg with a joint swing degree of freedom and a wheel drive at the end; The wheel-legged robot shown in 1(b) has a leg with two joints of swing DOF and a wheel drive at the end. Due to different research purposes, similar mechanisms have been adopted internationally from small experimental wheel-legged robots to lunar landing robots and Mars exploration robots. Although the specific structure is different, these robots have some common characteri...
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The invention discloses a method for controlling the driving and traction characteristics of a leg-wheel robot, belonging to the field of automation. The contact force vector on the contact point of each wheel of a leg-wheel robot and the ground is decomposed into a tangent vector, component vector in the axle direction of a wheel axle and a normal vector, the ratio of the tangent vector to the normal vector is used for representing the sliding rate and evaluating the driving and traction characteristics of the leg-wheel robot on the contact point, and the angle variable is controlled so that the maximum sliding rate in the sliding rates on all the contract points is very low, thus the driving and traction characteristics of the leg-wheel robot are controlled. Because the motion characteristic function of the leg-wheel robot is established, the motion of the leg-wheel robot can be controlled effectively, the cases of sliding of the leg-wheel robot is minimized during motion accordingly, the motion capacity of the leg-wheel robot is improved, less energy is consumed and the work task is completed effectively by the leg-wheel robot.
Description
technical field [0001] The invention relates to the field of automation, in particular to a driving and traction characteristic control method of a wheel-legged robot. Background technique [0002] Wheel-legged robots are widely used in reconnaissance, detection, planetary surface exploration, disaster relief, fire fighting, etc., and have become an important type of robots. Due to its high maneuverability, certain obstacle-crossing ability and environmental adaptability, and because its attitude controllability can meet the operation requirements of a stable vision system and accurate operation of the manipulator arm, it has been widely used, especially Faced with complex, unknown, and changeable unstructured environments, robots are required to have good maneuverability, environmental adaptability, and movement flexibility. [0003] The intelligence and environmental adaptability of robots need to rely more on their ability to acquire environmental information and intelli...
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Inventor 段星光黄强赵洪华王兴涛陈悦
Owner BEIJING INSTITUTE OF TECHNOLOGYGY