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Spherical-wheel mobile robot and speed measuring method thereof

A mobile robot and spherical wheel technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as robot instability, errors, and affecting control effects

Active Publication Date: 2015-11-18
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At this time, the encoder data of the driving motor cannot reflect the speed of the spherical wheel well, so that there is a large error in the measurement of the ball speed, which in turn affects the control effect and even makes the robot unstable.

Method used

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  • Spherical-wheel mobile robot and speed measuring method thereof
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  • Spherical-wheel mobile robot and speed measuring method thereof

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Embodiment Construction

[0039] like figure 1 As shown, the spherical wheel mobile robot includes: a spherical wheel 1, three identical driving mechanisms 2, a body 3, a control module 4, three identical speed measuring mechanisms 5, and an inertial sensor 6;

[0040] The driving mechanism 2 includes: a driving motor encoder 21, a driving motor 22, and a universal driving wheel 23;

[0041]The control module 4 and the inertial sensor 6 are installed in the fuselage 3; three identical driving mechanisms 2 are symmetrically fixed on the chassis 24 of the fuselage 3, and are all tangent to the spherical wheel 1, as figure 1 shown in;

[0042] The speed measuring mechanism 5 detects the first angular velocity ω of the spherical wheel 1 relative to the fuselage 3 r1 ;

[0043] The inertial sensor 6 detects the attitude data of the fuselage 3, the attitude data mainly includes: the rotation speed ω relative to the ground gyr and the rotation matrix R ψθφ ;

[0044] The control module 4 analyzes the po...

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Abstract

The invention provides a spherical-wheel mobile robot and a speed measuring method thereof. The spherical-wheel mobile robot comprises a spherical wheel, a driving mechanism for controlling the spherical wheel to move according to a control signal, a robot body for supporting all structures, a control module and an inertial sensor for obtaining posture data of the robot body; and the spherical-wheel mobile robot further comprises a speed measuring mechanism used for obtaining the speed of the spherical wheel relative to the robot body. The control module obtains the solved speed omega of the spherical wheel through a linear equation based on a kinetic constrained relationship according to the speed, obtained through the speed measuring mechanism, of the spherical wheel relative to the robot body and the posture data, obtained through the inertial sensor, of the robot body, and then the control signal for movement of the spherical-wheel mobile robot is solved through the solved speed of the spherical wheel and the posture data, obtained through the sensor, of the robot body in cooperation with the motion control rule, and the control signal transmitted to the driving mechanism. By means of the spherical-wheel mobile robot and the speed measuring method, the accuracy and the reliability for measuring the spherical speed of the spherical wheel during walking of the robot are improved.

Description

technical field [0001] The invention belongs to the technical field of automatic control, in particular to a spherical wheel mobile robot and a speed measuring method thereof. Background technique [0002] The patent in 2014 - the speed measurement method and control method of the spherical wheel mobile robot, application number 201410345088.0, has improved the mechanical structure of the traditional spherical wheel mobile robot, and designed a motion control method in a complex environment. [0003] The spherical wheel mobile robot in this patent calculates the speed of the spherical wheel through the drive motor encoder data of the universal drive wheel. Because the effect of driving wheel is active driving, in driving process, spherical wheel is in passive state, and driving wheel is in active state. When the driving wheel is suddenly subjected to a high-torque driving command and responds quickly, the spherical wheel will slide relative to the driving wheel because it i...

Claims

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Application Information

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IPC IPC(8): B25J13/08B25J5/00
Inventor 王美玲简剑杨毅刘欣吕宁一
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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