Omnidirectional moving wheel type robot platform and control method

Abstract

The invention discloses an omnidirectional moving wheel type robot platform and a control method. The omnidirectional moving wheel type robot platform comprises a chassis platform provided with mounting holes. The omnidirectional moving wheel type robot platform is characterized in that the omnidirectional moving wheel type robot platform further comprises three uniformly arranged mecanum wheels, wherein the included angle between every two adjacent mecanum wheels is 120 degrees; and each mecanum wheel is driven by a motor, all the motors are connected with a controller, and the controller receives control instruction parameters, obtains the control speeds of the three motors through a system kinematical equation and outputs signals to motor drivers to separately control the rotating speeds of the three motors. The three mecanum wheels are controlled by the three motors to serve as driving wheels, no driven wheel is needed, omnidirectional motion can be flexibly completed, the omnidirectional moving wheel type robot platform has the advantages of high adaptivity, high sensitivity, good stability, flexible rotation and the like, and the requirements of system motion for a complicated environment are met.

Description

technical field [0001] The invention relates to an omnidirectional mobile wheeled robot platform and a control method. Background technique [0002] The concept of the Mecanum wheel was proposed by the Swedish Mecanum Company. It is mainly composed of two parts, one part is the hub controlled by the motor, and the other part is a plurality of passive rollers evenly distributed at a certain angle along the outer edge of the hub. The Mecanum wheel has a compact structure and flexible movement, and is a very successful omnidirectional wheel. However, in the prior art, in order to realize the omnidirectional movement function, at least 4 Mecanum wheels need to be combined. For example, Patent No. 201010145736 .X discloses a multi-functional intelligent walking aid robot, which uses four mecanum wheels. Patent No. 201610725467.1 discloses an electronically controlled skid helicopter automatic storage device. The four bottom of the concave platform The corners are fitted with the...

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Problems solved by technology

[0003] Using 4 mecanum wheels for combination, the distribution area of ​​the wheels is too large to reduce the size of the mobile platform, and the distribution of the wheels also leads to the lack of flexibility of the system, which is not suitable for the platform design of small-sized robots, not only the cost is high, the structure Complicated and low control precision

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