Movement control method of 2D (Two-Dimensional) wheeled robot based on moveable foot wheel

Abstract

The invention discloses a movement control method of a 2D (Two-Dimensional) wheeled robot based on moveable foot wheels. Movement states of a robot are continuously updated according to the followingprocedures: S1, confirming a target state of the robot at a present moment according to task demands; S2, representing overall movement of the robot as movement of a mass point of a geometric center point P of a robot chassis, and calculating a movement vector of the robot at the present moment in a global coordinate system according to the target state; S3, calculating rotation speeds ni of different wheels and included angles psi i of a wheel direction and the X axis of a partial coordinate system of the robot according to the principle that a lateral direction of a wheel is not stressed; S4, adjusting states of the wheels according to the rotation speeds ni of different wheels and the included angles psi i, so as to control the movement of the robot. The method supports movement modes of forwarding, transverse movement, inclined movement, rotation and combinations of the movement modes of the robot and is applicable to movement control on 2D wheeled robots with two and more small foot wheels, and the wheels are small in sliding and high in movement stability and flexibility.

Description

technical field [0001] The invention belongs to the technical field of robot motion control, and in particular relates to a motion control model and method of a 2D wheeled robot based on movable casters. Background technique [0002] With the continuous development of industrial automation, applications such as smart cars and mobile robots are becoming more and more extensive in daily life. 2D wheeled robots are one of the most widely used robots. Performance and sports efficiency have increasingly higher requirements. [0003] Wheels applied to wheeled robots include Omni wheels, Mecanum wheels, traditional movable casters that are universal wheels, and the like. [0004] At present, the mecanum wheel, which is widely used in the field of wheeled robots, can satisfy the all-round flexible movement of the robot, and provide efficient movement modes such as simultaneous translation and rotation of the robot. However, most of the robots using movable casters currently use dif...

AI Technical Summary

Problems solved by technology

[0004] At present, the mecanum wheel, which is widely used in the field of wheeled robots, can satisfy the all-round flexible movement of the robot, and provide efficient movement modes such as simultaneous translation and rotation of the robot. However, most of the robots that use movable casters currently use differential wheels. Mode or front wheel steering and other control models, which greatly reduces the flexibility of robot movement based on movable casters, and does not give full play to the advantages of movable casters

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