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A Control Algorithm for Trajectory Correction of Mobile Robot

A technology of mobile robots and control algorithms, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of high price and achieve the effect of improving measurement accuracy, high initiative and intelligence

Active Publication Date: 2019-08-30
清研华翊(天津)教育科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although this control system is simple and accurate in sensing external forces, it is very expensive

Method used

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  • A Control Algorithm for Trajectory Correction of Mobile Robot
  • A Control Algorithm for Trajectory Correction of Mobile Robot
  • A Control Algorithm for Trajectory Correction of Mobile Robot

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Embodiment Construction

[0040] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0041] Such as figure 1 As shown, a mobile robot trajectory correction control algorithm includes the following steps:

[0042] (101) Utilize the IMU module located on the robot to calculate the attitude angle of the robot;

[0043] (102) Convert the change of attitude angle into motion velocity vector;

[0044] (103) Calculate combined speed;

[0045] (104) Calculate the corrected positions of the current and remaining all target points under the combined speed;

[0046] (105) Output the corrected motion track.

[0047] In a specific embodiment of the present invention, the upper body and the lower body of the robot are connected by a disc equipped with springs, and the IMU is placed horizontally on the disc at the waist. When the human pushes, pulls or twists the upper body of the robot, the real-time output value of the IMU will change, and after K...

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Abstract

The invention discloses a track correcting control algorithm of a mobile robot. The track correcting control algorithm of the mobile robot comprises the following steps: calculating posture angles of the robot through an IMU module which is arranged on the robot; converting the variation of the posture angles into moving velocity vectors; calculating the sum velocity; calculating the correcting positions of the current all rest targeted points under the sum velocity; and then outputting the corrected moving track. According to the track correcting control algorithm of the mobile robot, the posture change of the upper body of the robot is sensed through a spring and an inertial device module, thus the external force and direction can be determined, and as a result, the moving track can be adjusted in real time based on active movement and according to the force applied by people while the robot moves.

Description

technical field [0001] The invention belongs to the field of human-machine cooperative control of robots, and in particular relates to a trajectory correction control algorithm of a mobile robot. Background technique [0002] Robotics has made remarkable progress in just 60 years since the birth of traditional industrial robots. Today, robots are no longer limited to industrial applications. Its research focus and development direction tend to be more applied to daily life, such as catering, welcoming guests, entertainment, companionship, etc. At the same time, the development of robot technology also requires higher and higher initiative requirements for human-machine collaboration. That is to say, robots can not only move passively according to the force exerted by humans, but also coordinate operations with humans based on pre-learned knowledge. That is, active coordinated control. [0003] The vast majority of mobile robots currently on the market cannot feel external ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 刘召宋立滨于涛陈恳刘莉陈洪安
Owner 清研华翊(天津)教育科技有限公司
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